Robot moving system variable

[asimo]

Does anybody knows if there is a system variable or something else which could tell me that the robot is moving? The best that I've come up with is by using UO[3: Prg running], but I can only detect when a program is running. I want to be able to detect when the robot is moving (in a program or by jogging it with the teach pendant).

Thanks.

[regaleira]

The best way to see if the Robot is moving is by looking at it lol

[Professor_J]

I imagine there would be a system variable that could be used to signal when the robot is moving... I'm not sure which one though....

However one that might be useful is the variable $WAIT_ACTIVE .... If this variable is false and the "Program Running" output is on, then the robot must be doing something other that waiting for an input etc, so presumably it's moving? Probably depends on your program/application.. But if all your robot does when it's running is wait or move, then this will probably do the trick..

This obviously won't help you detect jogging..

[asimo]

Thank you for your answer Professor_J. But I would really like to know if a program is running as well as if somebody is jogging it, so every case where the robot is moving even if the solution is a combination of variables.

[stefanm]

$pro_move, it is also true while jog.

Edit: wrong robot - actually kuka

[asimo]

Hahaha, this is actually what I am using also for a Kuka robot. So I can ask my question the other way: is there a variable like the Kuka $PRO_MOVE with FANUC which tells if the robot is moving?

[murrellr]

This is some really obscure information that took me some time to find the expert.  Look at the system variable $MOR_GRP

• .$FILTER_EMPT, where 'x' is the group number.  If this goes FALSE, then the robot is moving.  I don't know how far back version-wise this variable exists.  I know it is in V7.xx.

[murrellr]

That should be '$MOR_GRP left-bracket x right-bracket.$FILTER_EMPT'.  I'm not sure how to escape the bracket symbol.

[asimo]

Thanks a lot murrellr, I will try it and let you know if this works.

Note: To use brackets, the only way I found is to put a space character before and after the variable, like this: [ x ]

[asimo]

Thank you murrellr, it is working!