# Set E-Stop (change the safety\_mode)

**URL:** <https://forum.universal-robots.com/t/set-e-stop-change-the-safety-mode/25629>\
**Category:** URCap Development\
**Created:** [December 13, 2022, 7:53am UTC](https://forum.universal-robots.com/t/set-e-stop-change-the-safety-mode/25629 "2022-12-13T07:53:49Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![i-beck](https://avatars.discourse-cdn.com/v4/letter/i/a88e4f/32.png) [@i-beck](https://forum.universal-robots.com/u/i-beck)\
**Post date:** [December 13, 2022, 7:53am UTC](https://forum.universal-robots.com/t/set-e-stop-change-the-safety-mode/25629/1 "2022-12-13T07:53:49Z")

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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?  
@ajp

Kind Regards,  
Beck

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**Author:** ![attila](https://avatars.discourse-cdn.com/v4/letter/a/b9bd4f/32.png) [@attila](https://forum.universal-robots.com/u/attila)\
**Post date:** [December 13, 2022, 8:28am UTC](https://forum.universal-robots.com/t/set-e-stop-change-the-safety-mode/25629/2 "2022-12-13T08:28:23Z")

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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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<div class="post-metadata">

**Author:** ![i-beck](https://avatars.discourse-cdn.com/v4/letter/i/a88e4f/32.png) [@i-beck](https://forum.universal-robots.com/u/i-beck)\
**Post date:** [December 14, 2022, 6:12am UTC](https://forum.universal-robots.com/t/set-e-stop-change-the-safety-mode/25629/3 "2022-12-14T06:12:44Z")

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