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

**URL:** <https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776>\
**Category:** Developer Tools\
**Created:** [June 16, 2017, 7:16am UTC](https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776 "2017-06-16T07:16:56Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Yishin](https://avatars.discourse-cdn.com/v4/letter/y/9fc29f/32.png) [@Yishin](https://tech-community.robotics.abb.com/u/Yishin)\
**Post date:** [June 16, 2017, 7:16am UTC](https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776/1 "2017-06-16T07:16:56Z")

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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

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [June 18, 2017, 7:32pm UTC](https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776/2 "2017-06-18T19:32:26Z")

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

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<div class="post-metadata">

**Author:** ![Yishin](https://avatars.discourse-cdn.com/v4/letter/y/9fc29f/32.png) [@Yishin](https://tech-community.robotics.abb.com/u/Yishin)\
**Post date:** [June 19, 2017, 6:18am UTC](https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776/3 "2017-06-19T06:18:21Z")

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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

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [June 19, 2017, 8:09pm UTC](https://tech-community.robotics.abb.com/t/how-to-connect-the-emergency-stop-signal-to-an-interrupt-routine/7776/4 "2017-06-19T20:09:18Z")

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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.

 ![|736x904.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/64b6b4b5e5f4b07042a076c1c60198de58a18654.jpeg)