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Version: 1.0.3

E-STOP

Hardware​

The AutomatePro features an onboard E-STOP input, allowing it to read the state of an external E-STOP. While the E-STOP state disables the Digital Drives, its primary function is as an input and it has not been designed to meet any functional safety standards.

The E-STOP input is located on Pin A5 (main connector A) and requires an input voltage ranging from 5-24VDC. If the E-STOP pin does not need to be sensed, it must be connected to the onboard 12V_IO supply.

E-STOP hardware signal path
E-STOP signal path: the external button and the Jetson software E-STOP are ANDed before gating the digital drives

Software Interface​

E-STOP is a hardware function: the E_STOP signal gates the digital-drive drivers directly.

  • Release E-STOP:

    gpioset --mode=exit n_e_stop=1

    automatepro-io-agent.service releases the software E-STOP each time it starts.

  • Read E-STOP status:

    gpioget n_e_stop-fb

    Returns 0 when the E-STOP is active (button pressed, digital drives disabled) and 1 when the E-STOP is released (digital drives enabled).