My customers need to know the values of global variables at any time in their PCs, for example to monitoring various cycle counter.
I’m trying the primary client interface, but the list of the global variable names is transmitted only at program start. Ok for the values, but I would like to connect to the robot at any time and regardless of which program and which global variables configuration are set.
You should save these values in general purpose registers in your program. Then you can connect at any time, and read through RTDE client inteface.