KRC2 drives contactor status signal/output

Hello everyone,

I'm looking for an output signal (or better a system variable) that can be read

to obtain the "drives status" or the drives contactor on/off signal,

equivalent to the green "I" on the pendant that stands for "Drives ready";

$DRIVES_ON tricked me to think to read it, but it is obviously only an input used in Automatic External mode.

(I'm using the robot in T1, T2 or AUTO)

I need to use it to drive an external device, so I'm thinking of routing it to an output in SPS.SUB

Anyone knows something about that?

Thank you

$PERI_RDY seems what I was looking for. Thank you!

Quote from panic mode

but that alone does not match exactly drives icon

$PERI_RDY seems indeed matching the "I" on the pendant (and the drives contactor) in all modes, I tried T1 T2 and Auto and it does the job, or am I missing something since you are saying that? Thank you