How to connect the Emergency STOP Signal to an interrupt routine?

Yishin

I would like to connect the Emergency STOP Signal to an interrupt routine.
Is the following code snippet the right approach?

VAR intnum sig1int;
PROC main()
    CONNECT sig1int WITH iroutine1;
    ISignalDi di1,sig1int;

Where could I find the definition for Emergency STOP Signal, and all the other signals, like EVENT_STOP, di1, ... etc ?

-Yishin

graemepaulin

As the Emergency Stop is a safety signal you should wire it into the safety board (top right hand side of a single controller).

Yishin

Hi Graemepaulin,

Where could I get the "signal controller" with RobotStudio?
Please tell me the sequence to open it,
Is it opened with  RobotStudio -> Controller -> Remote-IRB-Controller -> Configuration -> I/O System -> Configuration ?

Thanks for your reply

graemepaulin

You will need to use the system output emergency stop - this is configured as you describe above.

Add the digital output signal (can be a virtual signal), then add the system output using this signal - see screen grab - where the signal I created was called E_Stop.