# A HAL component known as an "estop latch" looks at ESTOP_IN and ESTOP_RESET. If ESTOP_IN is false, ESTOP_OUT will go false and remain false until ESTOP_IN is true and a rising edge is detected on ESTOP_RESET. NOTE that even if the PC is totally out of it's mind and ESTOP_OUT is "stuck" true, the machine will still stop, because the PMDX relay doesn't directly control the main ESTOP relay. The signal from the entire ESTOP chain passes thru the PMDX relay, so if the chain goes FALSE, things stop immediately, regardless of what the HAL component and PMDX relay do. Their only role is to latch the fault condition so that when it is cleared you have to hit F1 to restart.
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