Hi Chris, have you ever explored the idea of an e-stop that won't cut the power to the motors? Currently, when the e-stop is pressed, the motors lose power and the arm collapses. In most case, a few limit switches will be bent. I am wondering if it's better to stop the motors from moving but at the same time, maintain the motor positions. Thanks.
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In the latest AR4 I have wired the E-Stop to the enable circuit but the arm still collapses as you note. I agree it would be best for the motors to remain under power and not collapse but I suppose this is one of the downsides to stepper motors. I will have to give some thought to a wiring is a soft stop button or another interrupt or means of keeping the motor powered and disabling the pulse outputs.