Methods and devices for transmitting emergency signals over differential signal lines in robotic systems

A robotic system, comprising:

• a first robotic element providing a first node;
• a second robotic element providing a second node;
• and
• a set of electrical conductors providing a path for electrical communication between the first node and the second node;
• the set of electrical conductors being operable to communicate data signals between the first node and the second node in a first signal communication modality;
• the first node including an electrical circuit electrically coupled with the set of electrical conductors;
• the electrical circuit being operable to communicate emergency stop signals between the first node and the second node in a second signal communication modality over the first set of electrical conductors.

A robotic system, comprising:

• a robotic arm including:
• a first joint,
• a first motor driver operable to provide movement at the first joint, the first motor driver providing a first node,
• a second joint,
• a second motor driver operable to provide movement at the second joint, the second motor driver providing a second node, and
• an electrical circuit including a set of electrical conductors providing a path for electrical communication between the first node and the second node,
• the electrical circuit being operable to communicate data signals between the first node and the second node in a first signal communication modality,
• the electrical circuit being further operable to communicate emergency stop signals between the first node and the second node in a second signal communication modality over the first set of electrical conductors.