Turn Off the robot

It will automatically after 20 seconds.

Robot Brakes

$Param_Group.$SV_OFF_ALL If True, automatic servo on/off will be applied to all axis

If False, automatic will be applied to individual axis in $sv_off_enb (set to false for bad motor brake)

$SV_OFF_ENB Controls whether or not each servo uses a timed servo shutdown, used with $sv_off_timer to shutoff servos (set each axis to false for bad motor brake)

$SV_OFF_TIME Defines the time interval, in milliseconds, after which the servo motors are shut down.

Quote from MR21

Thanks! So if the robot has not moved for the time set in $SV_OFF_TIME, servo motors are shut down wherever is the robot?

Yes

You might be able to adjust that parameter from the BG logic based on the IO you have configured in that reference position, then change it back as soon as the robot moves out of that position.

Quote from MR21

Thanks! Which instruction should I use to adjust the parameter?

I'd try to set it equal to a number of second just in an equals line, if that doesn't work, see if the parameter is able to be changed in a program. Sadly, if it's not, then this approach falls flat and you'll need to find another approach.