Is Motion Active?

Robot Controller
1

It has been a While for Me on the S4C Platform and i was looking to ask a few Questions. i will start out with the First:
How to Know that motion is Active programactically?
In another Robot Brand i would perform the below Code, but… Im looking to Know a way to Set “bIsSettled”
Thanks,
****************** CODE BELOW EXAMPLE***************
;System variable mapping
CONTINUE
bEStopActive=iStationEStop
CONTINUE
bIsCalibrated=$ROB_CAL
CONTINUE
bIsPowered=$PERI_RDY
;Turn bRobotParked on and off appropriately
CONTINUE
bIsEmpty=($PRO_IP.P_ARRIVED==0)
CONTINUE
IF (bIsEmpty and (not bIsEmptyLast)) or (not bIsEmpty) THEN
CONTINUE
nTmrSettled=$ROB_TIMER
nTmrSettledQ=0
ENDIF
CONTINUE
nTmrSettledQ=($ROB_TIMER-nTmrSettled)
bIsEmptyLast=bIsEmpty
CONTINUE
bIsSettled=$ROB_STOPPED AND NOT $PRO_MOVE AND (nTmrSettledQ>50)
CONTINUE
bRobotParked=bIsSettled AND (distance(pLocPoint[nPntPark],$POS_ACT)<25)

2

You will probably have to re-write a bit, the most natural instruction should be “WaitRob” which stops program execution until the robot has stopped moving.
Motion stops with the “fine” argument on the MoveL instruction.

Steve