Abstract: The invention includes a programmable emergency-stop circuit apparatus and method that provides advanced function not found in other systems. The circuit centralizes the control of high voltage motor power into one place, by providing connections for, in its minimum configuration, several different kill switches, a motors-on button, and an AC motor power relay coil. In the present invention, kill switches, test inputs, emergency-stop and motors-on buttons, computer ready and watchdog signals are all conveniently connected in one location, alongside the AC motor power relay coil driver. Programmable options exist for testing kill inputs online, while the emergency stop is energized.

Abstract: A safety circuit is described that monitors a number of sensors for intrusion of objects or people into the workspace of a robot and controls the drive power to the motion control system via an emergency-stop circuit. The system monitors the motion control system and models it as just another sensor to ensure that it is working properly. In the event that there is intrusion, the safety circuit assigns a degree of intrusion (e.g., precautionary or serious). For serious intrusions, the safety circuit kills drive power thereby preventing additional motion of the robot. Killing drive power (de-energizing the emergency-stop circuit) requires a qualified operator to restart for further operation. For precautionary intrusions, the safety circuit takes control of the motion control system by disabling the power stages of motion control amplifiers but retaining drive power there. This inhibits further motion. The safety circuit keeps the amplifiers inhibited for a period to permit the intrusion time to clear.

Abstract: The invention comprises a programmable emergency-stop circuit apparatus and method that provides advanced functions not found in other systems. The circuit centralizes the control of high voltage motor power into one place, by providing connections for, in its minimum configuration, several different kill switches, a motors-on button, and an AC motor power relay coil. In the present invention, kill switches, emergency-stop and motors-on buttons, computer ready and watchdog signals are all conveniently connected in one location, alongside the AC motor power relay coil driver.