Is Emergency Stopped

SUMMARY

Is Emergency Stopped returns True if the robot is currently in an emergency stop and False otherwise.

An emergency stop is a safety-critical halt that requires a manual reset before motion can resume.

UNITS

Returns a boolean. No quantitative units.

The Skill

e_stopped = robot.is_emergency_stopped()

The Code

Example: Check for Emergency Stop

Connect to the robot and check whether it is in an emergency stop state.

"""
Logs whether the robot is currently in an emergency stop state.

Supports Universal Robots (UR).

Usage:
    python is_emergency_stopped.py [--ip <ROBOT_IP>]
"""

import argparse

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None) -> None:
    """Log whether the robot is in emergency stop."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)

        # ==================== Run Skill ============================================
        logger.success(f"is_emergency_stopped: {robot.is_emergency_stopped()}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Check emergency stop status Synapse example")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    args = parser.parse_args()

    main(ip=args.ip)

Running the Example

Real

python is_emergency_stopped.py --ip 192.168.1.100

For all options:

python is_emergency_stopped.py --help

Parameter Configuration

This skill takes no input parameters.

Returns

Field	Type	Description
e_stopped	bool	True if the robot is in emergency stop, False otherwise.

Raises

Exception	Condition
RuntimeError	The robot is not connected (connect() was not called, or the connection has been lost)

Where to Use the Skill

• Automated system monitors that detect and alert on e-stop conditions.
• Startup health checks before enabling motion.

When Not to Use the Skill

Use a different skill when:

• You want to detect the more common protective stop condition - use Is Protective Stopped instead.