Here you go Craig.
http://servo.xlichuan.com/Private/Pr...6713131150.pdf
Has opto built in and shows I can use either opto or relay as fault triggers.
Just trying to work out the neatest and most efficient way of hooking it up.
The 8 chnl opo board I have lying around looks nice and compact, compared to ugly relays.
Have it all set up on test bench (lounge floor) with relay boards atm ready for testing on spare pc.
For inputs I'll prob only need 3, with peramiters of 0,1 & 7. ie: SRV_ON / ALM_CLR / CW_CCW. These can come direct from BOB.
The other inputs I could prob disable. Yes?
(Apart from the 0-10v / GND inputs of course)
I'm actually all wired up to use 'enable' on my stepper drives which comes from pin 14 on my bob. Estop disables them, then re-enables them with mach reset.
I'm thinking the servo ALM_CLR function can be taken from there to a timed relay that turns itself off after a few seconds when reset is hit.
(unless you have a good alternative).
Daz.