New build with recycled parts on a ridiculous budget 120cm*60cm work area

[m_c]

Sorry to jump in on this thread Neale would the wires from the EM806's go to the E stop on the BOB?

It depends on your controller.
If you configure them NC, and your e-stop kills power to the drives, then you need someway to override the fault outputs in order to activate the e-stop relay, so the drives can power up, and activate the fault outputs to complete the e-stop loop, at which point the override can be disabled. If you run them NO, then to have them as part of the e-stop loop, you'd need to use the outputs to control a NC relay, so when the output activates, it powers the relay and breaks the E-stop circuit.

I'm aware the CS units have some kind of fault input, which although not part of the e-stop circuit, will disable things in the event of a fault being triggered, and is capable of ignoring the fault signal during reset, so things can be reset/powered up without having to override the fault signal.

Me personally, as I'm using a KFlop, I just have the fault outputs going to standard inputs. I've programmed the KFlop to continually monitor those inputs, and in the event of a fault, the KFlop disables everything, halts the software, and displays a message to tell me why everything has just ground to a halt.

I know some people just rely on Mach to handle faults, however I personally would never rely on Mach to handle critical faults.