[JaeHong Yoo]

Hello everyone, thank you always for your help.

I am currently working on enabling real-time communication between RoboDK and a KUKA robot using C3Bridge, as per the documentation. 
I have connected the KUKA robot using RoboDK's KUKA communication client driver, 'kukabridge', and I am periodically sending movement commands using the Python API.

In this situation, I would like to know if there is a way for KUKA send a signal back to RoboDK once the robot has completed the movement.
Currently, I am sending the 'MoveJ(pose)' command from the RoboDK API at approximately 0.01-second intervals, but the speed at which RoboDK sends the command is faster than KUKA can process and execute it, leading to irregular and unnatural movement. 
I want to set up a process where KUKA sends a signal back to RoboDK once the movement command has been fully executed, and only then RoboDK sends the next command.

Could anyone advise on how best to implement this type of communication to ensure smoother movement?
Thank you for your help!

[Dmitry]

I want to set up a process where KUKA sends a signal back to RoboDK once the movement command has been fully executed

You can query the state of any KRL variable at any time by sending a raw message to the driver using the following code:

Code:

RDK.setRunMode(RUNMODE_RUN_ROBOT)
value = robot.setParam("Driver", "GET $PRO_MOVE")
print(value)

$PRO_MOVE Means that a synchronous axis is moving, including in jog mode. The signal is thus the inverse of $ROB_STOPPED.