If you have the concurrent IO option you could do it in the ladder program. (I do not know how, others here will) Or you need to have a relay for your output power to get shut off by the e stop.
why not hardwire it so that activated EStop kills it regardless of output state?
"why not hardwire it so that activated EStop kills it regardless of output state?"
This is not recommended. Yes it will stop the table (unless the table has a brake the inertia will keep it moving), however this does not turn off the robot output. If you reset the e-stop the table will start turning.
The CIO can not be used for safety, however if you want to make it safer, you will have to edit your jobs to pulse the output and edit the CIO to hold the output on until the sweep is complete and no e-stop is pressed (ERC does not monitor e-stop condition, you'll have to use the servo on signal). As well you will have to stop someone from forcing the output on in teach.
Hope your not in Canada with this cell. After doing a modification like this you will have to have a new Pre-start review and the ERC will fail because it is not dual channel.
if this is safety feature, then hardwiring is not recommended, it is required... turning off non-safe is recommended.
