Read Motion Status

R2026b

Read motion status of cobot from UR Controller using RTDE interface

Since R2025a

• 

Read Motion Status block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

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

Port_1 — Status of motion of the cobot

scalar

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

UR Controller IP address — IP address of UR Controller

192.168.1.10 (default) | scalar

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

Sample time — Sample time

0.1 (default) | any non-negative value that is a multiple of 0.1 | -1

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

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

You can deploy the generated code to platform-specific targets like Windows^® or Linux^® host or to a Raspberry Pi^® target.

Version History

Introduced in R2025a