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Read Motion Status

Read motion status of cobot from UR Controller using RTDE interface

Since R2025a

Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Read Motion Status block reads motion status of cobot as read from UR Controller using RTDE interface.

Ports

Output

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Status of motion of the cobot, specified as a scalar. The block outputs the result as one of these values:

  • 2 – motion is completed by the cobot

  • 1 – motion execution is in progress

  • 0 – motion has not started

Data Types: double

Parameters

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Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Enter the time interval at which the block reads values from the UR RTDE Controller.

When you set this parameter to -1, Simulink determines the best sample time for the block based on the block context within the model.

Version History

Introduced in R2025a