Check If Joint Motors Are in Motion RAPID?

SydShore

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.

DenisFR

Hello,

You can connect "Mechanical Unit Not Moving" System Output signal to one of yours.