readMotionStatus

Get current motion status of the robot

Since R2024a

Syntax

[result,state] = readMotionStatus(ur)

Description

[result,state] = readMotionStatus(ur) returns the status of robot motion.

Examples

Obtain Current Motion Status from Cobot

Connect to a physical or simulated cobot, using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');

Get the current motion status of the cobot.

[result,state] = readMotionStatus(ur);

Input Arguments

ur — Connection to Universal Robots cobot

object

Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Output Arguments

result — Motion status of Universal Robots cobot

logical scalar | 1 | 0

Motion status of simulated cobot from Universal Robots, specified as a logical scalar. result is 1 if state is succeeded.

Data Types: logical

state — Final goal state

character vector

Final goal state of the simulated cobot, returned as one of the following:

• 'Succeeded' — Goal executed successfully.

• 'Executing' — Goal currently being executed on the cobot.

• 'Not executing' — Goal is yet to be received by the controller.

Data Types: char

Version History

Introduced in R2024a