FANUC Emergency stop TP

A Fanuc robot will (should) always stop when the E-Stop is activated, as this circuit is hard-wired. No programming is necessary to achieve this. Do you have a robot that, for some reason, does not do this? Or are you trying to use external E-Stops to halt the robot? What model robot/controller do you have?

Quote from NathanJo

I'm developing a TP code to run the robot, and there will be an HMI to oversee the process moving forward. It will have an emergency stop, and that's where I'll apply this strategy.

I’m unable to identify the input number that activates the E-Stop within the code.

Ah, this would be considered an "external" E-Stop, as it's part of a control system that is external to the robot's own wiring. There are two circuits on the robot's E-Stop board designed to be run through a set of relay contacts on an external safety relay. The location of these circuits on the E-Stop board does vary, so you'll want to find the electrical maintenance manual for whichever controller you are using.

Quote from NathanJo

Is there a method to determine which input gets triggered when the TP emergency stop is activated?

These circuits are not normal inputs/outputs, but rather hardwired circuits directly to/from the E-Stop board. By default, no digital inputs/outputs are actuated when an E-Stop is pressed. You cannot use a typical input or output for a safety application, as those signals are not redundant and cannot reliably indicate a hazardous condition.

If you want to use the status of the teach pendant or controller E-Stop in your programming (which does NOT count as an E-Stop, but simply a status indicator), you can set up digital outputs to be triggered under Menu->I/O->Interconnect->Press F3 [SELECT] -> "ES->DO." This lets you assign specific digital outputs to be triggered when any one of many safety faults occur.