Operation
MagnaTran 7.1 User’s Manual
Control/Display Module (CDM) Operation
MN-003-1600-00
Brooks Automation
6-64
Revision 2.2
DANGER
The Emergency Stop button will remove power to the motors. It does
NOT remove DC power to the robot. Electrical hazards still exist
when the Emergency Stop circuit is active.
NOTE:
The CDM does not need to be in control of the robot for the Emergency Stop
button to work; nor does it have to be on. The CDM needs only to be
plugged into the robot to allow access to the E-STOP function.
CAUTION
The CDM Emergency Stop button will release the servos. If the robot
was in motion when the Emergency Stop button was pressed, inertial
motion will continue and risk of collision exists.
Plugging the CDM into the robot with the Emergency Stop button
pressed will cause the robot to perform an Emergency Stop.
While the Emergency Stop Circuit is active, the encoders remain powered. This
allows the arms to be physically moved but remain referenced. The current arm posi-
tion will be updated on the CDM. When control of the robot is regained, the robot is
able to recover from floating, inertia and physical movement without having to home.
The robot will first retract, then plot out the new motion.
To re-establish the interlock, pull the Emergency Stop button out. To regain control of
the robot, press ESC. The robot will remind the user that the current condition is in
the Emergency Stop mode by reporting the error message. The arms will remain
without servo power until a motion command is entered.
