step mode signal

    Somebody know which´s the variable that shows the robot is in step mode?, and is´t posible to map this to digital output on karel o TPP?
    Thanks..

    The command enable (CMD ENB) UOP will go low if the robot is in step mode. That how I tell typically.


    If you want a digital output that tells you specifically that the robot is in step, you will have to put the following code in a tp program and run it as a backround logic task.


    Code
    DO[25:StepModeOn]=($SSR.$SINGLESTEP) ;

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    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

    I know this post is old, but I was looking on how to tie Step to a DO without using BGLogic


    Here's how.


    $EXT_DI_STEP.ENABLE=1
    $EXT_DI_STEP.DO_NUM=61


    This will set DO[61] to TRUE when in step mode.

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