# reading e-stop signal

**URL:** <https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448>\
**Category:** RobotStudio\
**Created:** [October 6, 2011, 2:56am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448 "2011-10-06T02:56:35Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![macnaught](https://avatars.discourse-cdn.com/v4/letter/m/838e76/32.png) [@macnaught](https://tech-community.robotics.abb.com/u/macnaught)\
**Post date:** [October 6, 2011, 2:56am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448/1 "2011-10-06T02:56:35Z")

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Hi All,  
I’ve got a quick question which i’m hoping you knowledgable people may be able to help with.

I need to send a signal to a PLC whenever any e-stop has been triggered (ES, AS, GS).

The signal will be used to open a door which is controlled via a PLC.

Thanks

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**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\
**Post date:** [October 6, 2011, 8:45am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448/2 "2011-10-06T08:45:01Z")

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Hi,  
For ES you can use the “System Output” signal “Emergency Stop”.  
In the “System Parameters Reference Manual” (which you will find under the help button in RobotStudio) go to Topic I/O - Type System Output - Status values - Emergency Stop, for more information.

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<div class="post-metadata">

**Author:** ![macnaught](https://avatars.discourse-cdn.com/v4/letter/m/838e76/32.png) [@macnaught](https://tech-community.robotics.abb.com/u/macnaught)\
**Post date:** [October 7, 2011, 5:05am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448/3 "2011-10-07T05:05:17Z")

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Thank you very much for that.

I’ve got that bit working now.  
Another question, is there a way to run a rapid code if an e-stop has been triggered e.g.  
when estop is triggered, run rapid code to set some flags?

Many thanks

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**Author:** ![Marcel](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@Marcel](https://tech-community.robotics.abb.com/u/Marcel)\
**Post date:** [October 7, 2011, 8:15am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448/4 "2011-10-07T08:15:59Z")

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Hi

You could create a event routine that will be executed with the event QSTOP and check in there if the emergency system output is set.

You could also do a crossconnection with the ermergency system output in the EIO.cfg parameter.

You could also use multitasking to check the ermergency system output.

Best regards  
Marcel

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<div class="post-metadata">

**Author:** ![macnaught](https://avatars.discourse-cdn.com/v4/letter/m/838e76/32.png) [@macnaught](https://tech-community.robotics.abb.com/u/macnaught)\
**Post date:** [October 10, 2011, 1:22am UTC](https://tech-community.robotics.abb.com/t/reading-e-stop-signal/4448/5 "2011-10-10T01:22:25Z")

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Thanks everyone,

I ended up using the QSTOP with an event routine. Works like a charm.

Thanks again.