# Chart Monitoring Example

**HMI Panel File**

<figure><img src="/files/jqrWnFiDglq1Tm4V7spC" alt=""><figcaption></figcaption></figure>

{% file src="/files/UzfQBAofw7xdD1LPJ7l2" %}
HMI panel file
{% endfile %}

**Robot Program File**

```python
# joints values
j1 = 0
j2 = 0
j3 = 0
j4 = 0
j5 = 0
j6 = 0

# TCP position
x = 0
y = 0
z = 0

# joints torque
t1 = 0
t2 = 0
t3 = 0
t4 = 0
t5 = 0
t6 = 0

# joints motor temperature
temp1 = 0.0
temp2 = 0.0
temp3 = 0.0
temp4 = 0.0
temp5 = 0.0
temp6 = 0.0

# controller outputs
o1 = 0
o2 = 0
o3 = 0
o4 = 0

# controller temperature
controller_tmp = 0

def bool_to_int(val):
    if val:
        return 1
    else:
        return 0
    end
end

# update thread
thread update():
    while True:
        joints = get_actual_joint_positions()
        j1 = joints[0]
        j2 = joints[1]
        j3 = joints[2]
        j4 = joints[3]
        j5 = joints[4]
        j6 = joints[5]

    	tcp = get_actual_tcp_pose()
    	x = tcp[0]
    	y = tcp[1]
    	z = tcp[2]

    	torques = get_joint_torques()
    	t1 = norm(torques[0])
        t2 = norm(torques[1])
        t3 = norm(torques[2])
        t4 = norm(torques[3])
        t5 = norm(torques[4])
        t6 = norm(torques[5])

        temp1 = get_joint_temp(0)
        temp2 = get_joint_temp(1)
        temp3 = get_joint_temp(2)
        temp4 = get_joint_temp(3)
        temp5 = get_joint_temp(4)
        temp6 = get_joint_temp(5)

        o1 = bool_to_int(get_standard_digital_out(0))+6
        o2 = bool_to_int(get_standard_digital_out(1))+4
        o3 = bool_to_int(get_standard_digital_out(2))+2
        o4 = bool_to_int(get_standard_digital_out(3))+0

        controller_tmp = get_controller_temp()
        sync()
    end
end

run update()
```

{% file src="/files/NfYxFYhCHaMrOBPQDj3W" %}
Script to get robot data
{% endfile %}

{% file src="/files/Q3vGaPjOCv0GVaV0nI1T" %}
Robot program
{% endfile %}


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