How to know when FANUC robot is on path

    Hello colleagues,


    Is there a way to know if the FANUC robot is on path?


    I look for system variables, if any, similar to KUKA's $ON_PATH and $NEAR_POSRET.


    Thankyou
    Jaraviensis

    Well it's our PLC man who wants to know whether the robot is on path or not. "Better safe than sorry", he says.


    I have already found $MOR_GRP[1].$JOGGED which becomes true if someone jog the robot.


    J.

    Also, what path? There could be many paths programmed in the robot.


    What I would find more helpful is an output saying the robot is at home. There is also a program running signal.


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