There is a macro available in the library that allow you to monitor the state of a UR robot and update the position of the real robot in RoboDK.
2.Load the Macro UR_ActivateMonitoring.py from: C:/RoboDK/Library/Macros/. A new Python object will we added in the station.
3.Make sure the IP of the robot is properly provided in the robot connection parameters.
4.Double click the macro to start monitoring.
The simulator will update the position of the robot and will create targets as the real robot is moved. Among other things, it is possible to monitor the robot speed, acceleration and motor currents.