Hello everyone,
Currently, I am working on a project. Where I want to map robot movement through DI/DO (robot busy). Usually, Fanuc provides UO10 for mapping robot busy signal. Which means when the program starts, it will turn on and if there is any wait time or wait signal, it will keep turned on. In this case, the motor encoders are stopped. Is there any way that I can map the robot encoder to DI/DO to let my control system know that the robot is in pause condition or waiting for signals?