Hi, I want to know if there is a way to check whether the robot is moving or stopping.

One question, do you want to know if the robot is stopping or stopped? If so, you could set an output to tell you if the arm is in motion or stopped.

@anon44063275 You can also try the is_steady() script function to check if robot is fully in rest.

Are there any examples to refer to?

Perhaps the “Robot Not Stopping” safety output is an option. [image] Safeguard Stopped as Electrical Output Product Wishlist It would be nice to have the option of outputting if the robot is Safeguard Stopped through the configurable safety outputs - just like it is possib…

You could monitorizing the 30003 port (125Hz) of the robot If you familiar in the Node.js here is a modul to receive data (including joint and Chartesian position, etc) from Universal Robots: [image] GitHub - ABC-iRobotics/ur-state-receiver Contribute to ABC-iRobotics/ur-state-receiver …

Can you elaborate on what output to set and how can we receive it?

You can set outputs to have certain states when playing versus not playing on the IO tab on the installation screen. You can then use those states to monitor the robot. For instance, we use a stack light from Banner and have it wired to show whether the robot is playing or not, green light is set t…

How to check if the robot is currently moving or stopping

URCap Development URCaps SDK

jbm January 15, 2019, 9:15am 5

Perhaps the “Robot Not Stopping” safety output is an option.

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How to check if the robot is currently moving or stopping

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