With these tools the robot can be adapted to a diverse range of applications. Software interlocks prevent errors and mistakes such as the robot placing an object where there already is one. All errors can be reprogrammed, for example what happens if the emergency stop is pressed or if the robot encounters an obstruction. Feeders and escapements and even extra stepping motors can be controlled without interrupting robot motion. All S-T robots are powered by stepping motors.
Motion is a result of a train of pulses issued by one of the processors in the controller.
In the event of software or hardware failure the pulses would stop so the robot would stop which is fail safe. Each motor is checked by incremental encoders which are counted independantly in hardware counters which are then read by the processor. This results in total system integrity. Each controller is supplied with class 0 and class 2 E-stop circuits. Class 2 E-stop is programmable so that what happens on pressing this button can be strategically determined.