Red indicator light when protective/emergency stop occurs

Technical Questions
1

Hello there,

I am curently developping an application with an UR10.
I need to light up a Schneider indicator light when a program is running, when it is stopped and when a protective/emergency stop occurs.

For the first two signals I know that I can use the configurable outputs.

But how do I raise a signal when a protective / emergency stop occurs ?

Thanks in advance for the help,

Camille

2

I used a digital output set to high when running. low when stopped to control a relay and a green stack light in parallel. Another output controlled by the program that turns on before it moves and off when it is stationary goes through the NC side of the relay. This way whenever the program stops for any reason the red alarm light and audible alarm are activated. When the program is running normal, the green light stays on.

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3

I was looking exactly for this purpose. The only tweak that I had to make was to put that first DO as Low on unscheduled stop - High when running, because if not it was sounding the alarm on every pause and stop, and now only on Protective Stops