Safe Dip is built as a two-axis Cartesian gantry that carries a workpiece through three fixed stations — input, dipping, and output — under closed-loop control. An STM32 microcontroller runs a cooperative, nonblocking sequencer that coordinates every subsystem in real time: stepper-driven timing belts and linear rails handle horizontal motion, while a stepper-driven leadscrew controls the vertical dip axis. A conventional electromagnet serves as the end effector, a time-of-flight sensor confirms part presence, and normally-closed limit switches provide homing and travel references. The system reports its state, sensor data, and fault conditions over serial and Modbus TCP, while a hardwired Category 0 emergency-stop circuit independently protects the motor drivers without cutting power to the electromagnet — preventing an accidental drop mid-cycle.
This keeps the same length and register as your “Design Proposal” panel, so the two sections read consistently across the page. Want me to also draft one for any other empty title panels you’re filling in (like “Sensing” or “Safety”), or is this the last one for now?
