# Check If Joint Motors Are in Motion RAPID?

**URL:** <https://tech-community.robotics.abb.com/t/check-if-joint-motors-are-in-motion-rapid/8272>\
**Category:** Developer Tools\
**Created:** [June 1, 2018, 6:29am UTC](https://tech-community.robotics.abb.com/t/check-if-joint-motors-are-in-motion-rapid/8272 "2018-06-01T06:29:45Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![SydShore](https://avatars.discourse-cdn.com/v4/letter/s/d78d45/32.png) [@SydShore](https://tech-community.robotics.abb.com/u/SydShore)\
**Post date:** [June 1, 2018, 6:29am UTC](https://tech-community.robotics.abb.com/t/check-if-joint-motors-are-in-motion-rapid/8272/1 "2018-06-01T06:29:45Z")

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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.

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [June 1, 2018, 8:47am UTC](https://tech-community.robotics.abb.com/t/check-if-joint-motors-are-in-motion-rapid/8272/2 "2018-06-01T08:47:06Z")

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