Charged with Light needs to proc from Orbs when Super is full.
The two functions have nothing to do with each other, so having a fully charged Super should not prevent you from picking up Orbs to proc a Charged with Light (Taking Charge) effect.
The same can be said for other Mods such as Absolution and Invigoration.
You can pick up Wells when your Abilities are full to proc Mods, the same should apply for Orbs.
Update (June 17, 2022):
I went back and tested AGAIN. If the character has Well mods, in this case, Explosive Wellmaker, AND Taking Charge, Taking Charge DOES NOT function.
In politeness/fairness to the forum, yes, Taking Charge works as described when CwL effects are the only ones on the character.
Obviously, I am not part of the dev team and do not have access to the code, but it appears that the Well mods are causing a bypass of the Orb mods when both exist on the character.
DIM Loadout - https://dim.gg/noj3sby/Fusion-Broken-CwL
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Updated