KUKA BCO done Variable

    Hi everyone,


    I'm currently working on a KRC5 and i need to set a warning on an API if the BCO is not done. Do you know if a system variable exist? i have some documentation about system variables (Kuka system software 8.1 8.2 8.3 system variable) but the only variable i could find is $MOVE_BCO (TRUE when BCO run is being carried out).
    Some one could help me? :help:

    I second that $ON_PATH is likely what you need.
    On the other hand if you specifically want to know if the robot came back to its HOME position, you could then use $IN_HOME or $IN_HOME1....5.

    KR10

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