Disable RO[ ] and DO[ ] automatically when robot not busy

Hello guys

I'm using a LR Mate 200iD/7L with the controlled air output and I want to guarantee that, when I interrupt the running program (hold or imstp), the ROs are disabled. I don't want to do this via program but by configurations. It is that possible?

I run the programs both in auto and manual modes, so it would be better if the solution could works in both modes (even in local or remote modes).

Thank you for the attention.

Thank you guys!

I have one more issue. In my BG logic I use the TCP speed and position but apparently the BG do not run the program if I use non-constant system variables. How can I "read" the TCP speed and position without access system variables?

Quote from HawkME

You can read those variables in BG logic, but you need to add a group mask.

But there is no problem caused by conflict with different programs using the same group mask?