I want to make a chart which shows some values of end-effector in real-time

Hi, I'm currently a student of engineering college, and i am doing robot arm simulation with mechanics explorer and Simulink.

I want to make a chart which shows the position, angle, error of the end-effector in real-time as it moves.

And then I want to insert this realtime chart on the right side with robot:

Please, Help me !!

I have already made robot arm using Inventor and make it move on Mechanics explorer. but I cannot make the chart. please help. Or you can also let me know if you have better way.