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In most applications, one or more additional emergency stop buttons are required. The
figure below shows how to connect one or more emergency stop buttons
In case you need to connect more than two xArm or other machines, it is required to use a
safety PLC to control the emergency stop signal.
8.5.2.2.Connect To the Emergency Stop button
8.5.2.3.Share emergency stop with other machines
When a robotic arm is used with other machines, it requires to set up a common emergency
stop circuit in most of the time. By setting up a public circuit, the operator does not have to
think about which emergency stop button to use.
Since both machines need to wait for each other to jump out of an emergency stop condi-
tion, thereby, the standard robotic arm emergency stop input cannot be used for sharing.
To share emergency stop functionality with other machines, you must configure configu-
rable I/O capabilities through Studio.
• Configurable input pair: External emergency stop.
• Configurable output pair: System emergency stop.
The figure below shows how the xarm robotic arm shares the emergency stop function. In
this example, the configuration I/O used is
“CI0-CI1” and “CO0-CO1”.
Safety
Saf
eguar
d S
top
Emer
genc
y S
top
GND
EI1
GND
EI2
GND
SI0
GND
SI1
Safety
Saf
eguar
d S
top
Emer
genc
y S
top
GND
EI1
GND
EI2
GND
SI0
GND
SI1