Get Realtime position for whole movement


Hey Guys,
I am Controlling the Dobot magician via Matlab 2016a.
I would like to get the whole position for the time running the robot arm. With the GetPose command I just get the end position of the machine.
Is there another method? Our goal is to plot the whole movement of the joint angle J3 (position and velocity) in a diagram.

Best Regards,