I want to know if there is a way to check whether the robot is moving or stopping.
One question, do you want to know if the robot is stopping or stopped? If so, you could set an output to tell you if the arm is in motion or stopped.
@aofk159 You can also try the is_steady() script function to check if robot is fully in rest.
Are there any examples to refer to?
Perhaps the “Robot Not Stopping” safety output is an option.
You could monitorizing the 30003 port (125Hz) of the robot
If you familiar in the Node.js here is a modul to receive data (including joint and Chartesian position, etc) from Universal Robots:
and it is an example for usage: