Hello, I would like to program an output that is high (on) while the robot program is executing and drops low (off) if the robot stops running (ie, stops due to programmed fault or in the unlikely event it faults from a mechanical fault, or any other reason). I would like this to happen in the background, as I don't want it reliant on normal program execution. In fanuc I can access the UOPs for a "busy" signal (or another handful methods). What is the best way to do this on a Kuka? We need it for the SPI interface with a plastic molding machine so the machine can alarm if the robot goes down.
**Edit I am running version 8.2.
Thanks,