readMotionStatus

Get current motion status of the robot

Since R2024a

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Syntax

[result,state] = readMotionStatus(ur)

Description

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

example

Examples

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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

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

Output Arguments

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

Data Types: logical

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

See Also