# E-stop wiring diagram

**URL:** <https://discourse.farm-ng.com/t/e-stop-wiring-diagram/236>\
**Category:** general\
**Created:** [August 16, 2023, 4:59pm UTC](https://discourse.farm-ng.com/t/e-stop-wiring-diagram/236 "2023-08-16T16:59:55Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![calderpg](https://avatars.discourse-cdn.com/v4/letter/c/df705f/32.png) [@calderpg](https://discourse.farm-ng.com/u/calderpg)\
**Post date:** [August 16, 2023, 4:59pm UTC](https://discourse.farm-ng.com/t/e-stop-wiring-diagram/236/1 "2023-08-16T16:59:55Z")

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Is there a wiring diagram available for the E-stop wiring? I would like to add an additional wireless E-stop.

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**Author:** ![Wren](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/wren/32/183_2.png) [@Wren](https://discourse.farm-ng.com/u/Wren)\
**Post date:** [August 18, 2023, 8:13pm UTC](https://discourse.farm-ng.com/t/e-stop-wiring-diagram/236/2 "2023-08-18T20:13:34Z")

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Hi,

[Here’s a diagram](https://www.figma.com/file/UtZSjL0evK1SoussO7946I/Untitled?type=whiteboard&node-id=0%3A1&t=POjZi9rS6uebhrib-1) of the Wireless “soft” E-stop using a Kar-Tech wireless E-stop+receiver, a feather and 24V-5V converter. It plugs into the the CAN bus and uses a modified version of the [bumpers/code.py example](https://github.com/farm-ng/amiga-dev-kit/blob/main/circuitpy/examples/bumpers/code.py). This allows you to send an EstopRequest to safely stop/brake the robot. I’ll provide more documentation if you’d like to duplicate this setup.

Alternatively, you can open and close the E-stop circuit using pin 2/3 from the bulkhead M8 connector (after removing the jumper). This is not recommended because this turns the motor controllers off and the robot will roll freely.