I was wondering if it is possible to read somewhere programmatically (e.g. in a system variable) the current disturbance torque on robot axes? Or maybe just read somewhere if i am in SRVO-053 Disturbance excess condition?
You can also use these variables to backdoor the CLSKP (Collision Skip, now known as 'Touch Skip') option without getting the PAC (Only $550, but if you're in a jam and need to figure it out asap without waiting for FANUC). But, on newer 8.1 and higher software, it won't work.