Please consider adding a dedicated input for motion enable. This could be connected as a “wired AND” through a key switch, light curtains, pressure mats, etc. Once all are valid motion would be allowed or continue.
Similarly with an alarm or status outputs that could be used with a tower light or other indicators. When all safeties are valid, one output could indicate motion allowed (green – ready), when “running” with all valid safeties not tripped, (yellow – caution/running), and when hard or soft limits are hit or safeties are interrupted while running for the third output (red – alarm.
1 input for enable(s)
3 outputs for status condition(s)
There was another request for a tower light pushing two years ago. Apparently you can use Chilipepper and GPIOs, however current model indicates various other status conditions through LEDS now that are not an absolute necessity for operation. Adding enables and/or alarm conditions would also not require the use of additional hardware and are generally an integral part of motion control. This IS just a request.
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