DO I/O to off in case of E-Stop

Is there BG logic on the robot?

You can map the ES signals to a DO. Menu --> I/O --> Interconnect. Choice, select ES --> DO. Then you can set whatever ones you want.

In my understanding, the OP wants to shut off the outputs that normally operate for another purposes.
In such case, the interference between the main control and interconnect with EStop may be unpredictable.

Quote from Sergei Troizky

In my understanding, the OP wants to shut off the outputs that normally operate for another purposes.
In such case, the interference between the main control and interconnect with EStop may be unpredictable.

Thank you, I believe you are correct. I read it wrong the first time.

I am having the same question. I tried mapping ES to DO and then handling the signal in BG Logic but I have interference with program.

You can handle the i/o generally over BG, by using flags in main program, BG uses this flags to set/reset real DO with respect to state of e-stop. You will have some delay between setting flag and DO.

If you have discrete DO, you can switch off power supply of i/o card DO with e-stopsignal by a relay.