Read Motion Status

R2026b

Read motion status of cobot from UR Controller using RTDE interface

Since R2025a

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  • Read Motion Status block

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.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"urRTDElib/Read Motion Status"

Example: add_block("urRTDElib/Read Motion Status","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

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Version History

Introduced in R2025a