Safety Atmospheric Single-Arm Robot
Safety Interlocks User’s Manual
Brooks Automation
2-14 Revision 1
Safety Interlocks
Hardware activated fail safe interlock circuits are provided for SEMI S2 systems.
These interlock circuits come with an Interlock Loop monitor circuit to give the user
software activated feedback status. The inputs are located on the Version 3 I/O Board
located in the controller. If the safety interlock is activated, the dc power to the ampli-
fiers is cut off, which turns off the servo motors.
To recover from an interlock stop condition, inspect the system for any damage, inter-
fering components, or open panels. Check and reset the individual interlocks. Start
up the system and turn on servo motors on all axes (SVON).
To enable the interlock circuit, activate pin 24 (+) and pin 6 (-) on the DB37 connector
or pin 34 (+) and pin 67 (-) on the SCSI 68 connector wired normally closed. To allow
for multiple interlock switches, all switches should be wired in series (normally
closed). An open in any of these switches will disconnect power to the laser scanner
and all motors.
The interlock loop monitor, pin 23 (+ out) and pin 5 (- return) on the DB37 connector
allows for monitoring the interlock status directly, bypassing controller software. If
the bit goes low at any time, it indicates that an interlock has been opened. This
allows the host computer to receive a warning directly and could also be used to gen-
erate an interrupt routine to recover from the interlock condition.
For more details, refer to . To custom configure other than the default settings, contact
your Brooks Automation representative.
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