I have been developing an application to communicate with a KRC4 controller over RSI. I have developed an external UDP Server application (running on my computer) that talks to the robot and fetches some data such as cartesian and axes positions, etc. I have gone through the manuals and tried to find a way to send the real-time values of actual TOOL and BASE to the external application from the robot. However, in the manual and the examples, I could not find any RSI block that I can use in RSI Visual to get these system variables and send over the bus.
If anyone has achieved this, then please help me with the idea of programming it.