KRC2 / KRR5.6
The manual states that $ROBRUNTIME gives the cumulated amount of time when drives are switched on.
But I could not find how to determine when drives are effectively switched on in the manual.
I've looked at $DRIVES_ON (pulse) and $PERI_RDY but it does not seem to be correlated as $PERI_RDY could be true while $ROBRUNTIME counter is stopped.
Can someone explain precisely how is $ROBRUNTIME computed ?
Would the time when PRO_STATE1 = P_ACTIVE be a good approximation ?
Nota : my goal is to compute a weighted value of $ROBRUNTIME (weighted by $OV_PRO).