Is there a way to check whether the robot is initializing?
If yes, please answer me.
you have access to the current robot mode for example via the Dashboard Server.
An Article for this matter can be found here: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-e-series-port-29999-42728/
Hi. Thank you for answer. But does not CB3 support?
The same article can also be found for the CB3 Version. Some commands are different between the CB Version and the eSeries. Here is the referred article: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/dashboard-server-cb-series-port-29999-15690/
You can also read robot state using RTDE and see all of the states that it is going through as the arm is initialized.
Thank you for answer. This problem has been solved.