Set E-Stop (change the safety_mode)

Thanks for the continuous support.
i am working on a project in which the URCap needs to check Digital Input and if it is on, The robot has to Emergency Stop or Safeguard Stop. I am using RTDE.
My question is, how can I achieve the above? is there any specific command to change the safety_mode?

Kind Regards,

How will this be different from setting up in the Installation tab / Safety menu - I/O - Input Signal - choose any config input and setting the Function Assignment to Emergency Stop ?

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Honestly, i have not thought about that and yes, it surefire works.
Thanks a lot. really appreciate it.

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