Check If Joint Motors Are in Motion RAPID?

Developer Tools
1

Hello,

Is there a RAPID command I can use to check on the motion status of the joint motors of a robot (are they moving or stationary)?

Example use case: a non-motion task should only complete an action if the motors on the robot are not currently moving.

2

Hello,
You can connect “Mechanical Unit Not Moving” System Output signal to one of yours.