Atmospheric Single-Arm Robot Safety
User’s Manual Emergency Stop (EMS/MOFF)
Brooks Automation
Revision 1
2-7
Emergency Stop (EMS/MOFF)
The Brooks Automation robot control system has an emergency stop circuit. The
emergency stop circuit, when activated, overrides all other controls, removes power
to the motor amplifiers, and causes all motion to stop. Brooks Automation does not
provide a robot stop on the system, but a TTR-200 Teach Pendant has an EMER-
GENCY STOP button. (See page 26 for information on the Teach Pendant.)
Emergency Stop (EMS) or Motor Off (MOFF) is hardware-activated. STOP is an
optional feature and is software-activated. The inputs are on the I/O Board located in
the controller:
• EMS or MOFF. If the EMS/MOFF input on the I/O board is activated, the dc
power to the amplifiers is cut off, which turns off the servo motors.
To recover from EMS/MOFF, inspect the system for any damage or interfering
components, pull out the STOP button, start up the system, turn on servo
motors for all axes (SVON).
To enable EMS/MOFF, activate pin 20 (+) and pin 3 (-) on the DB37 connector
with 24 volts dc (SEMI S2 systems) or 5/24 volts dc (non-SEMI S2 systems)
wired normally closed, as shown in the Emergency Stop Circuit and Intercon-
nect diagram.
For more details, refer to Chapter 12: Drawings. To custom configure other
than the default settings, contact your Brooks Automation representative.
• STOP (software). If the STOP input on the I/O board is activated, the software
immediately decelerates all axes and all motion is stopped.
To enable STOP, activate pin 20 (+) and pin 21 (-) on the DB37 connector with
24 volts dc (SEMI S2 systems) or 5/24 volts dc (non-SEMI S2 systems) wired
normally closed, as shown on the Emergency Stop Circuit and Interconnect
diagram.
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