Actually, For KUKA, Fanuc and ABB robot, we use variables to record the position reached by the robot, which can be called the step number.
All of those brand of robot has 'Tringle' function, we can setup the variable once robot arrive the target point accurately, or closest to target point according to accuracy value. Before robot reach next point, the value of variable won't change that we can judge which point the robot has passed according to the value of this variable, and then return to that point, and then loop the judgment until it reaches the home position.
1. I admit that the method mentioned by Alexandru is worked, but as our station's process are complex that we usually need to add additional judgement sentence to judge the actual state of the robot. And for the robot without safety options, the workspace will used for setup area interlock with PLC.
2. I try to find the same function in Kawasaki robot, as you mentioned, SIGPOINT can only work with signal, not variable, also can't work with BITS. So even SIGPOINT can work, it's still not a good way.
When you get around to use this function, after visiting the location and turning on the signal(s), can you confirm if the signal(s) automatically turn off when you move away from the location or do they retain their state?
I think the signal would keep its status. I will update the test result as I finish the test.