# Replicating functionality of \[Robot Not On Path\] System Output removed from Omnicore

**URL:** <https://tech-community.robotics.abb.com/t/replicating-functionality-of-robot-not-on-path-system-output-removed-from-omnicore/11608>\
**Category:** OmniCore\
**Created:** [September 15, 2024, 10:36am UTC](https://tech-community.robotics.abb.com/t/replicating-functionality-of-robot-not-on-path-system-output-removed-from-omnicore/11608 "2024-09-15T10:36:06Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![ohsteos](https://avatars.discourse-cdn.com/v4/letter/o/a9adbd/32.png) [@ohsteos](https://tech-community.robotics.abb.com/u/ohsteos)\
**Post date:** [September 15, 2024, 10:36am UTC](https://tech-community.robotics.abb.com/t/replicating-functionality-of-robot-not-on-path-system-output-removed-from-omnicore/11608/1 "2024-09-15T10:36:06Z")

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Hallo,

how to check if robot is still on path before starting the robot movements?  
For example after Emergency Stop.

On IRC5 we had “Robot Not On Path” system output,  
but in Omnicore this signal is no longer present.

“Robot In Trusted Position” signal is not acceptable because i want to be able to move program pointer without triggering this signal.

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**Author:** ![bran21](https://avatars.discourse-cdn.com/v4/letter/b/7ab992/32.png) [@bran21](https://tech-community.robotics.abb.com/u/bran21)\
**Post date:** [October 8, 2026, 6:49pm UTC](https://tech-community.robotics.abb.com/t/replicating-functionality-of-robot-not-on-path-system-output-removed-from-omnicore/11608/2 "2026-10-08T18:49:14Z")

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Did you ever find a solution for this?