Anybody know of a parameter that can be used to determine if the robot is actually moving vs. prg running? I've looked through the sw ref manual with no luck and searched the forum with the same results. My end goal is to monitor if the robot is not in motion while the program is running. Essentially to detect a wait condition. I know about the DO on Wait, however it will only work with specific logic. i.e. works with WAIT DI=ON, not with (WAIT DI). I shorthand wait instructions to start with and don't want to risk someone making a change down the road that tanks the system.
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