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Realtime Monitor for real robot

Dear all,

  I am processing a research for ABB IRB120 robot, and a sub goal is achieve a function the motion of robot is able to be displayed in my computer. The problem is we are stuck in it near 1 week, cuz we have no idea how to do it. For easily, we've try the code named "", but it is no working.
  could anyone tell me how to do it? plz give me a hand.
  thx a lot.

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