I know there are functions like "current position" and "get robot status", but how can I see the real-time position & status, while robot is moving.
I mean, not the status at one point, but the entire time.
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in order to read continuously robot position and status when the arm is moving, you could use a motion command with NEXT option as following:
this VI will be executed immediately without waiting the motion complete. Then after it you could place a while loop with reading of position and status until motion complete.
This way is not properly a real-time position and status reading but is the simplest way to get these info during motion.
Concerning real-time motion, ImagingLab is working on a new feature available from DENSO.
Hope this helps.