step mode signal

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.

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

On newer robots you can use the system variable "$EXT_DI_STEP".

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.