funtion or signal for state of movement

orlandostarke

I have an IRB 4600 robot with an IRC5 controller and a ForceControl force sensor mounted. I would like to measure the force exerted by the robot on the workpiece. My idea is to measure the force over time while the robot is moving. However, I need a signal or a function that returns TRUE when the robot is in motion. Is there a signal or a function for this? (e.g., IsMoving() or IMove() or something similar). If not, is there a way I can measure the force over time?

Best regards,
Orlando