RoboteQ AX2550/2850 user manual Emergency Stop using External Switch, Inverted Operation

Emergency Stop using External Switch

Program	Set
	Reset

Press the two buttons simultaneously to cause an emergency stop

FIGURE 18. Activating an Emergency Stop

After and Emergency Stop condition, the controller must be reset or powered Off and On to resume normal operation.

Emergency Stop using External Switch

An external switch can be added to the AX2500/2850 to allow the operator to stop the con- troller’s output in case of emergency. This controller input can be configured as the “Inverted” detection instead of Emergency Stop. The factory default for this input is “No Action”.

The switch connection is described in “Connecting Switches or Devices to EStop/Invert Input” on page 56. The switch must be such that it is in the open state in the normal situa- tion and closed to signal an emergency stop command.

After and Emergency Stop condition, the controller must be reset or powered Off and On to resume normal operation.

Inverted Operation

For robots that can run upside-down, the controller can be configured to reverse the motor commands using a gravity activated switch when the robot is flipped. This feature is enabled only in the mixed mode and when the switch is enabled with the proper configura- tion of the “Input switch function” parameter. See “Programmable Parameters List” on page 156.

The switch connection is described in “Connecting Switches or Devices to EStop/Invert Input” on page 56. The switch must be such that it is in the open state when the robot is in the normal position and closed when inverted. When the status of the switch has changed, the controller will wait until the new status has remained stable for 0.5s before acknowl- edging it and inverting the commands. This delay is to prevent switch activation triggered by hits and bounces which may cause the controller to erroneously invert the commands.

AX2500/2850 Motor Controller User’s Manual 45