There are system signals, like MotorOnState, fault, program runs and so on. have a look into the manuals.
But there is not this 'comfortable' procedure to start different programs like 'pns0001' and so on. On ABBs you only can start one single program 'main'.
The System Parameters Reference Manual specific to your software version explains system inputs & outputs and the cross connections used to interface the ones you need with your I/O connections.
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