# Emergency stop in URSim

**URL:** <https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005>\
**Category:** URScript\
**Tags:** ursim, safety-system\
**Created:** [July 21, 2017, 7:08pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005 "2017-07-21T19:08:17Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![anon93510157](https://avatars.discourse-cdn.com/v4/letter/a/77aa72/32.png) [@anon93510157](https://forum.universal-robots.com/u/anon93510157)\
**Post date:** [July 21, 2017, 7:08pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/1 "2017-07-21T19:08:17Z")

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Hello,

Does someone knows if it is possible to trigger an e-stop, p-stop, safeguard from the simulator?

Thanks.

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**Author:** ![mbush](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mbush/32/76_2.png) [@mbush](https://forum.universal-robots.com/u/mbush)\
**Post date:** [July 23, 2017, 4:01pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/2 "2017-07-23T16:01:52Z")

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Create a move with two waypoints, put a blend on the first waypoint of say 50mm, then between the two waypoints place a short wait. This causes an invalid set point protective stop.

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [July 24, 2017, 10:02am UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/3 "2017-07-24T10:02:06Z")

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As @mbush suggest, triggering Protective Stop is possible, by using invalid program settings, e.g. blending into a wait.  
However E-stop, Safeguard, Faults and Violations are best triggered on a real robot.

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<div class="post-metadata">

**Author:** ![anon93510157](https://avatars.discourse-cdn.com/v4/letter/a/77aa72/32.png) [@anon93510157](https://forum.universal-robots.com/u/anon93510157)\
**Post date:** [July 24, 2017, 12:20pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/4 "2017-07-24T12:20:58Z")

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Thanks for the answers.

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**Author:** ![anon60692577](https://avatars.discourse-cdn.com/v4/letter/a/c68b51/32.png) [@anon60692577](https://forum.universal-robots.com/u/anon60692577)\
**Post date:** [July 6, 2018, 12:38pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/5 "2018-07-06T12:38:04Z")

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Is there really no way to trigger an e-stop? safety stop?

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**Author:** ![anon93510157](https://avatars.discourse-cdn.com/v4/letter/a/77aa72/32.png) [@anon93510157](https://forum.universal-robots.com/u/anon93510157)\
**Post date:** [July 6, 2018, 1:12pm UTC](https://forum.universal-robots.com/t/emergency-stop-in-ursim/1005/6 "2018-07-06T13:12:37Z")

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There is the assert urscript function that triggers a fault.