I am having trouble figuring out how to turn off a laser ON output and a wire ON output when the E-stop is activated. I was told I could use Submit Interpreter, calling the two outputs and using $ALARM_STOP to cancel them when activated. I saw another output or function named $IR_STOPM but I do not know which one to use or how to use them.
I am fairly new to this so let me know if you need additional info. 
Which make of robot?
you just want to turn them off...?
submit runs asynchronously from robot program but that should be fine here. so just in user section of SPS.SUB add
IF NOT $ALARM_STOP THEN
$OUT[1]=FALSE
$OUT[666]=FALSE
; etc.
ENDIF
note that $ALARM_STOP is inverted (fail safe). it shows TRUE when no ESTOP is pressed. a better name would have been $ESTOP_OK, then above code would be easier to read. Maybe better write a bit more:
IF $ALARM_STOP THEN
; EStops are OK, everything is normal
ELSE
; EStop pressed, kill outputs...
$OUT[1]=FALSE
$OUT[666]=FALSE
; etc.
ENDIFand.. what about turning them back on?
Putting the trigger signal to off on the normal program if an e-stop is triggered is a good practice, but if you are talking about a welding laser or something that can be a hazard if the laser is not shut down, that should also be addressed adding additional safety circuitry, like tying the E-Stop channel to a safety relay that cuts the power from the laser power supply.
If this is the case, you cannot just rely on the SPS to manage that even if the SPS is not supposed to stop ever... it can be stopped manually or even stopped after an error inside the sps program occours and signals will still be on.
SPS is not safety-rated as far as I know, so take care with this, a normal digital input is not ennough to ensure safety in this case.... it's good to sisable the signals for sure, but it's not ennough speaking about safety.
