in the current PS version can be read out only the current TCP.
there is the possibility to read the axis values?
example: "$ Robot_axis_1"or "$ Robot_axis_7"
this is my idea behind it.
this is a very useful function for robot safemove with axis value.
There might be another way to accomplish that via a parallel user logic block that would have the robot joint values as input and would output a signal that can be relinked to the robot SoftE Stop signal.
The idea sounds good and could work, but unfortunately all our robots models from the OEMs cannot opend for modelling.
So we cannot add a logic block to the robot.