I would like to now if its there a way to make the robot alert via an output signal when it enters an emergency stop, for example , when it hits something, it stop automatically, but i would want to output a signal to a speaker alarm, so the person in charge of the operation of the robot hears this protection stop.
There are a few ways you can accomplish this task. For example you could access the internal modbus server on the controller and monitor the isProtectiveStop isEmergencyStop addresses, more info:
You could do similar approach using the client interfaces:
Or through some IO setup on polyscope as well:
Thanks, this is exactly what I needed