The URScript Programming Language - Amazon S3 · 1.8.1 Threads and scope The scoping rules for threads are exactly the same, as those used for functions. See1.7 for a discussion of

The URScript Programming Language

Version 3.3.4December 8, 2016

CONTENTS CONTENTS

The information contained herein is the property of Universal Robots A/S and shallnot be reproduced in whole or in part without prior written approval of UniversalRobots A/S. The information herein is subject to change without notice and shouldnot be construed as a commitment by Universal Robots A/S. This manual is period-ically reviewed and revised.

Universal Robots A/S assumes no responsibility for any errors or omissions in this doc-ument.

Copyright c© 2009–2016 by Universal Robots A/SThe Universal Robots logo is a registered trademark of Universal Robots A/S.

Contents

Contents 2

1 The URScript Programming Language 31.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.2 Connecting to URControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.3 Numbers, Variables and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.4 Flow of Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.4.1 Special keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.5 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51.6 Remote Procedure Call (RPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . 51.7 Scoping rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61.8 Threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.8.1 Threads and scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.8.2 Thread scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.9 Program Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 Module motion 102.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3 Module internals 223.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4 Module urmath 304.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5 Module interfaces 395.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

2 URScript

The URScript Programming Language

1 The URScript Programming Language

1.1 Introduction

The Universal Robot can be controlled at two levels: The Graphical User-Interface Leveland the Script Level. URScript is the robot programming languange used to control therobot at the Script Level. Like any other programming language URScript has variables,types, flow of control statements, function etc. In addition URScript has a number ofbuilt-in variables and functions which monitor and control the I/O and the movementsof the robot.

1.2 Connecting to URControl

URControl is the low-level robot controller running on the Mini-ITX PC in the controllercabinet. When the PC boots up, URControl starts up as a daemon (like a service) andthe PolyScope User Interface connects as a client using a local TCP/IP connection.

Programming a robot at the Script Level is done by writing a client application (runningat another PC) and connecting to URControl using a TCP/IP socket.

• hostname: ur-xx (or the ip-adresse found in the about dialog-box in PolyScope ifthe robot is not in dns.)

• port: 30002

When connected URScript programs or commands are sent in clear text on the socket.Each line is terminated by “\n”.

1.3 Numbers, Variables and Types

The syntax of arithmetic expressions in URScript is very standard:

1+2-34*5/6(1+2)*3/(4-5)

In boolean expressions, the boolean operators are spelled out:

True or False and (1 == 2)1 > 2 or 3 != 4 xor 5 < -6not 42 >= 87 and 87 <= 42

Variable assignment is done using the equal sign “=”:

foo = 42bar = False or True and not Falsebaz = 87-13/3.1415hello = "Hello, World!"

3 URScript

Flow of Control The URScript Programming Language

l = [1,2,4]target = p[0.4,0.4,0.0,0.0,3.14159,0.0]

The fundamental type of a variable is deduced from the first assignment of the vari-able. In the example above foo is an int and bar is a bool. target is a pose; acombination of a position and orientation.

The fundamental types are:

• none

• bool

• number - either int or float

• pose

• string

A pose is given as p[x,y,z,ax,ay,az], where x,y,z is the position of the TCP, andax,ay,az is the orientation of the TCP, given in axis-angle notation.

1.4 Flow of Control

The flow of control of a program is changed by if-statements:

if a > 3:a = a + 1

elif b < 7:b = b * a

else:a = a + b

end

and while-loops:

l = [1,2,3,4,5]i = 0while i < 5:l[i] = l[i]*2

end

To stop a loop prematurely the break statement can be used. Similarly the continuestatement can be used to pass control to the next iteration of the nearest enclosingloop.

1.4.1 Special keywords

• halt Terminates the program

4 URScript

Function The URScript Programming Language

• return Returns from a function

1.5 Function

A function is declared as follows:

def add(a, b):return a+b

end

The function can then be called like this:

result = add(1, 4)

It is also possible to give function arguments default values:

def add(a=0,b=0):return a+b

end

URScript also supports named parameters.

1.6 Remote Procedure Call (RPC)

Remote Procedure Calls (RPCs) are similar to normal function calls, except that thefunction is defined and executed remotely. On the remote site, the RPC function be-ing called must exist with the same number of parameters and corresponding types(together the function’s signature). If the function is not defined remotely, it will stop theprogram execution. The controller uses the XMLRPC standard to send the parametersto the remote site and retrieve the result(s). During a RPC call, the controller waits forthe remote function to complete. The XMLRPC standard is among others supportedby C++ (xmlrpc-c library), Python and Java.

On the UR script side, a program to initialize a camera, take a snapshot and retrieve anew target pose would look something like:

camera = rpc_factory("xmlrpc", "http://127.0.0.1/RPC2")if (! camera.initialize("RGB")):

popup("Camera was not initialized")camera.takeSnapshot()target = camera.getTarget()...

First the rpc factory (see Interfaces section) creates a XMLRPC connection tothe specified ”remote” server. The camera variable is the handle for the remote func-tion calls. The user needs to initialize the camera and therefore calls camera.initialize("RGB").The function returns a boolean value to indicate if the request was successful. In orderto find a target position (somehow) the camera first needs to take a picture, hencethe camera.takeSnapshot() call. After the snapshot was taken the image analysis in

5 URScript

Scoping rules The URScript Programming Language

the remote site figures out the location of the target. Then the program asks for the ex-act target location with the function call target = camera.getTarget(). On returnthe target variable will be assigned the result. The camera.initialize("RGB"),takeSnapshot() and getTarget() functions are the responsibility of the RPC server.

The Technical support website contains more examples of XMLRPC servers.

1.7 Scoping rules

A URScript program is declared as a function without parameters:

def myProg():

end

Every variable declared inside a program has a scope. The scope is the textual regionwhere the variable is directly accessible. Two qualifiers are available to modify thisvisibility. The local qualifier tells the controller to treat a variable inside a function, asbeing truly local, even if a global variable with the same name exists. The globalqualifier forces a variable declared inside a function, to be globally accessible.

For each variable the controller determines the scope binding, i.e. whether the vari-able is global or local. In case no local or global qualifier is specified (also called afree variable), the controller will first try to find the variable in the globals and otherwisethe variable will be treated as local.

In the following example, the first a is a global variable and the second a is a localvariable, so the two variables are independent, even though they have the samename:

def myProg():

global a = 0

def myFun():local a = 1...

end...

end

Beware that the global variable is no longer accessible from within the function, as thelocal variable masks the global variable of the same name.

In the following example, the first a is a global variable, so the variable inside the func-tion is the same variable declared in the program:

def myProg():

global a = 0

6 URScript

Threads The URScript Programming Language

def myFun():a = 1...

end...

end

For each nested function the same scope binding rules hold. In the following example,the first a is global defined, the second local and the third implicitly global again:

def myProg():

global a = 0

def myFun():local a = 1

def myFun2():a = 2...

end...

end...

end

The first and third a are one and the same, the second a is independent.

Variables on the first scope level (first indentation) are treated as global, even if theglobal qualifier is missing or the local qualifier is used:

def myProg():

a = 0

def myFun():a = 1...

end...

end

The variables a are one and the same.

1.8 Threads

Threads are supported by a number of special commands.

To declare a new thread a syntax similar to the declaration of functions are used:

7 URScript


thread myThread():# Do some stuffreturn

end

A couple of things should be noted. First of all, a thread cannot take any parameters,and so the parentheses in the declaration must be empty. Second, although a returnstatement is allowed in the thread, the value returned is discarded, and cannot beaccessed from outside the thread. A thread can contain other threads, the sameway a function can contain other functions. Threads can in other words be nested,allowing for a thread hierarchy to be formed.

To run a thread use the following syntax:


end

thrd = run myThread()

The value returned by the run command is a handle to the running thread. This handlecan be used to interact with a running thread. The run command spawns off the newthread, and then goes off to execute the instruction following the run instruction.

To wait for a running thread to finish, use the join command:


end


join thrd

This halts the calling threads execution, until the thread is finished

executing. If the thread is already finished, the statement has no effect.

To kill a running thread, use the kill command:


8 URScript


end


kill thrd

After the call to kill, the thread is stopped, and the thread handle is no longer valid. Ifthe thread has children, these are killed as well.

To protect against race conditions and other thread related issues, support for criticalsections are provided. A critical section ensures that the code it encloses is allowed tofinish, before another thread is allowed to run. It is therefore important that the criticalsection is kept as short as possible. The syntax is as follows:

thread myThread():enter_critical# Do some stuffexit_criticalreturn

end

1.8.1 Threads and scope

The scoping rules for threads are exactly the same, as those used for functions. See 1.7for a discussion of these rules.

1.8.2 Thread scheduling

Because the primary purpose of the URScript scripting language is to control the robot,the scheduling policy is largely based upon the realtime demands of this task.

The robot must be controlled a frequency of 125 Hz, or in other words, it must be toldwhat to do every 0.008 second (each 0.008 second period is called a frame). Toachieve this, each thread is given a “physical” (or robot) time slice of 0.008 secondsto use, and all threads in a runnable state is then scheduled in a round robin1 fashion.Each time a thread is scheduled, it can use a piece of its time slice (by executinginstructions that control the robot), or it can execute instructions that do not controlthe robot, and therefore do not use any “physical” time. If a thread uses up its entiretime slice, it is placed in a non-runnable state, and is not allowed to run until the nextframe starts. If a thread does not use its time slice within a frame, it is expected toswitch to a non-runnable state before the end of the frame2. The reason for this state

1Before the start of each frame the threads are sorted, such that the thread with the largest remainingtime slice is to be scheduled first.

2If this expectation is not met, the program is stopped.

9 URScript

Program Label Module motion

switching can be a join instruction or simply because the thread terminates.

It should be noted that even though the sleep instruction does not control the robot,it still uses “physical” time. The same is true for the sync instruction.

1.9 Program Label

Program label code lines, with an “$” as first symbol, are special lines in programsgenerated by PolyScope that make it possible to track the execution of a program.

$ 2 "var_1= True "global var_1= True

2 Module motion

This module contains functions and variables built into the URScript programming lan-guage.

URScript programs are executed in real-time in the URControl RuntimeMachine (RTMa-chine). The RuntimeMachine communicates with the robot with a frequency of 125hz.

Robot trajectories are generated online by calling the move functions movej, moveland the speed functions speedj, speedl.

Joint positions (q) and joint speeds (qd) are represented directly as lists of 6 Floats,one for each robot joint. Tool poses (x) are represented as poses also consisting of 6Floats. In a pose, the first 3 coordinates is a position vector and the last 3 an axis-angle(http://en.wikipedia.org/wiki/Axis angle).

10 URScript

http://en.wikipedia.org/wiki/Axis_angle

Functions Module motion

2.1 Functions

conveyor pulse decode(type, A, B)

Tells the robot controller to treat digital inputs number A and B as pulsesfor a conveyor encoder. Only digital input 0, 1, 2 or 3 can be used.

>>> conveyor pulse decode(1,0,1)

This example shows how to set up quadrature pulse decoding withinput A = digital in[0] and input B = digital in[1]

>>> conveyor pulse decode(2,3)

This example shows how to set up rising and falling edge pulsedecoding with input A = digital in[3]. Note that you do not have to setparameter B (as it is not used anyway).

Parameterstype: An integer determining how to treat the inputs on A

and B

0 is no encoder, pulse decoding is disabled.

1 is quadrature encoder, input A and B must besquare waves with 90 degree offset. Direction of theconveyor can be determined.

2 is rising and falling edge on single input (A).

3 is rising edge on single input (A).

4 is falling edge on single input (A).

The controller can decode inputs at up to 40kHz

A: Encoder input A, values of 0-3 are the digital inputs0-3.

B: Encoder input B, values of 0-3 are the digital inputs0-3.

end force mode()

Resets the robot mode from force mode to normal operation.

This is also done when a program stops.

end freedrive mode()

Set robot back in normal position control mode after freedrive mode.

11 URScript


end teach mode()

Set robot back in normal position control mode after freedrive mode.

12 URScript


force mode(task frame, selection vector, wrench, type, limits)

Set robot to be controlled in force mode

Parameterstask frame: A pose vector that defines the force

frame relative to the base frame.

selection vector: A 6d vector that may only contain 0 or1. 1 means that the robot will becompliant in the corresponding axis ofthe task frame, 0 means the robot isnot compliant along/about that axis.

wrench: The forces/torques the robot is toapply to its environment. These valueshave different meanings whether theycorrespond to a compliant axis or not.Compliant axis: The robot will adjust itsposition along/about the axis in orderto achieve the specified force/torque.Non-compliant axis: The robot followsthe trajectory of the program but willaccount for an external force/torqueof the specified value.

type: An integer specifying how the robotinterprets the force frame. 1: The forceframe is transformed in a way suchthat its y-axis is aligned with a vectorpointing from the robot tcp towardsthe origin of the force frame. 2: Theforce frame is not transformed. 3: Theforce frame is transformed in a waysuch that its x-axis is the projection ofthe robot tcp velocity vector onto thex-y plane of the force frame. All othervalues of type are invalid.

limits: A 6d vector with float values that areinterpreted differently forcompliant/non-compliant axes:Compliant axes: The limit values forcompliant axes are the maximumallowed tcp speed along/about theaxis. Non-compliant axes: The limitvalues for non-compliant axes are themaximum allowed deviationalong/about an axis between theactual tcp position and the one set bythe program.

13 URScript


freedrive mode()

Set robot in freedrive mode. In this mode the robot can be movedaround by hand in the same way as by pressing the ”freedrive” button.The robot will not be able to follow a trajectory (eg. a movej) in thismode.

get conveyor tick count()

Tells the tick count of the encoder, note that the controller interpolatestick counts to get more accurate movements with low resolutionencoders

Return ValueThe conveyor encoder tick count

movec(pose via, pose to, a=1.2, v=0.25, r=0)

Move Circular: Move to position (circular in tool-space)

TCP moves on the circular arc segment from current pose, throughpose via to pose to. Accelerates to and moves with constant toolspeed v.

Parameterspose via: path point (note: only position is used).

(pose via can also be specified as joint positions,then forward kinematics is used to calculate thecorresponding pose)

pose to: target pose (pose to can also be specified asjoint positions, then forward kinematics is used tocalculate the corresponding pose)

a: tool acceleration [m/sˆ2]

v: tool speed [m/s]

r: blend radius (of target pose) [m]

14 URScript


movej(q, a=1.4, v=1.05, t=0, r=0)

Move to position (linear in joint-space) When using this command, therobot must be at a standstill or come from a movej or movel with ablend. The speed and acceleration parameters control the trapezoidspeed profile of the move. The $t$ parameters can be used in stead toset the time for this move. Time setting has priority over speed andacceleration settings. The blend radius can be set with the $r$parameters, to avoid the robot stopping at the point. However, if theblend region of this move overlaps with previous or following regions,this move will be skipped, and an ’Overlapping Blends’ warningmessage will be generated.

Parametersq: joint positions (q can also be specified as a pose, then

inverse kinematics is used to calculate the correspondingjoint positions)

a: joint acceleration of leading axis [rad/sˆ2]

v: joint speed of leading axis [rad/s]

t: time [S]

r: blend radius [m]

movel(pose, a=1.2, v=0.25, t=0, r=0)

Move to position (linear in tool-space)

See movej.

Parameterspose: target pose (pose can also be specified as joint

positions, then forward kinematics is used tocalculate the corresponding pose)


v: tool speed [m/s]

t: time [S]

r: blend radius [m]

15 URScript


movep(pose, a=1.2, v=0.25, r=0)

Move Process

Blend circular (in tool-space) and move linear (in tool-space) toposition. Accelerates to and moves with constant tool speed v.




v: tool speed [m/s]

r: blend radius [m]

position deviation warning(enabled, threshold=0.8)

Write a message to the log when the robot position deviates from thetarget position.

Parametersenabled: enable or disable position deviation log

messages (Boolean)

threshold: (optional) should be a ratio in the range ]0;1],where 0 is no position deviation and 1 is theposition deviation that causes a protectivestop (Float).

reset revolution counter(qNear=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])

Reset the revolution counter, if no offset is specified. This is applied onjoints which safety limits are set to ”Unlimited” and are only appliedwhen new safety settings are applied with limitted joint angles.

>>> reset revolution counter()

ParametersqNear: Optional parameter, reset the revolution counter to

one close to the given qNear joint vector. If notdefined, the joint’s actual number of revolutions areused.

16 URScript


servoc(pose, a=1.2, v=0.25, r=0)

Servo Circular

Servo to position (circular in tool-space). Accelerates to and moveswith constant tool speed v.




v: tool speed [m/s]

r: blend radius (of target pose) [m]

servoj(q, a, v, t=0.008, lookahead time=0.1, gain=300)

Servo to position (linear in joint-space)

Servo function used for online control of the robot. The lookahead timeand the gain can be used to smoothen or sharpen the trajectory.

Note: A high gain or a short lookahead time may cause instability.Prefered use is to call this function with a new setpoint (q) in each timestep (thus the default t=0.008)

Parametersq: joint positions [rad]

a: NOT used in current version

v: NOT used in current version

t: time where the command is controllingthe robot. The function is blocking fortime t [S]

lookahead time: time [S], range [0.03,0.2] smoothens thetrajectory with this lookahead time

gain: proportional gain for following targetposition, range [100,2000]

17 URScript


set conveyor tick count(tick count, absolute encoder resolution=0)

Tells the robot controller the tick count of the encoder. This function isuseful for absolute encoders, use conveyor pulse decode() for settingup an incremental encoder. For circular conveyors, the value must bebetween 0 and the number of ticks per revolution.

Parameterstick count: Tick count of the

conveyor (Integer)

absolute encoder resolution: Resolution of theencoder, needed tohandle wrapping nicely.(Integer)

0 is a 32 bit signedencoder, range[-2147483648 ;2147483647] (default)

1 is a 8 bit unsignedencoder, range [0 ; 255]

2 is a 16 bit unsignedencoder, range [0 ;65535]



set pos(q)

Set joint positions of simulated robot

Parametersq: joint positions

18 URScript


speedj(qd, a, t)

Joint speed

Accelerate linearly in joint space and continue with constant jointspeed. The time t is optional; if provided the function will return aftertime t, regardless of the target speed has been reached. If the time t isnot provided, the function will return when the target speed is reached.

Parametersqd: joint speeds [rad/s]

a: joint acceleration [rad/sˆ2] (of leading axis)

t: time [s] before the function returns (optional)

speedl(xd, a, t, aRot=’a’)

Tool speed

Accelerate linearly in Cartesian space and continue with constant toolspeed. The time t is optional; if provided the function will return aftertime t, regardless of the target speed has been reached. If the time t isnot provided, the function will return when the target speed is reached.

Parametersxd: tool speed [m/s] (spatial vector)

a: tool position acceleration [m/sˆ2]

t: time [s] before function returns (optional)

aRot: tool acceleration [rad/sˆ2] (optional), if not defineda, position acceleration, is used

stop conveyor tracking(a=15, aRot=’a’)

Stop tracking the conveyor, started by track conveyor linear() ortrack conveyor circular(), and decellerate tool speed to zero.

Parametersa: tool accleration [m/sˆ2] (optional)


19 URScript


stopj(a)

Stop (linear in joint space)

Decelerate joint speeds to zero

Parametersa: joint acceleration [rad/sˆ2] (of leading axis)

stopl(a, aRot=’a’)

Stop (linear in tool space)

Decelerate tool speed to zero

Parametersa: tool accleration [m/sˆ2]


teach mode()

Set robot in freedrive mode. In this mode the robot can be movedaround by hand in the same way as by pressing the ”freedrive” button.The robot will not be able to follow a trajectory (eg. a movej) in thismode.

20 URScript

Variables Module motion

track conveyor circular(center, ticks per revolution, rotate tool)

Makes robot movement (movej() etc.) track a circular conveyor.

>>> track conveyor circular(p[0.5,0.5,0,0,0,0],500.0, false)

The example code makes the robot track a circular conveyor withcenter in p[0.5,0.5,0,0,0,0] of the robot base coordinate system, where500 ticks on the encoder corresponds to one revolution of the circularconveyor around the center.

Parameterscenter: Pose vector that determines the

center the conveyor in the basecoordinate system of the robot.

ticks per revolution: How many tichs the encoder seeswhen the conveyor moves onerevolution.

rotate tool: Should the tool rotate with theconeyor or stay in the orientationspecified by the trajectory(movel() etc.).

track conveyor linear(direction, ticks per meter)

Makes robot movement (movej() etc.) track a linear conveyor.

>>> track conveyor linear(p[1,0,0,0,0,0],1000.0)

The example code makes the robot track a conveyor in the x-axis ofthe robot base coordinate system, where 1000 ticks on the encodercorresponds to 1m along the x-axis.

Parametersdirection: Pose vector that determines the

direction of the conveyor in the basecoordinate system of the robot

ticks per meter: How many tichs the encoder sees whenthe conveyor moves one meter

2.2 Variables

Name Descriptionpackage Value: ’Motion’

a joint default Value: 1.4a tool default Value: 1.2v joint default Value: 1.05

continued on next page

21 URScript

Module internals

Name Descriptionv tool default Value: 0.25

3 Module internals

3.1 Functions

force()

Returns the force exerted at the TCP

Return the current externally exerted force at the TCP. The force is thenorm of Fx, Fy, and Fz calculated using get tcp force().

Return ValueThe force in Newtons (float)

get actual joint positions()

Returns the actual angular positions of all joints

The angular actual positions are expressed in radians and returned as avector of length 6. Note that the output might differ from the output ofget target joint positions(), especially during acceleration and heavyloads.

Return ValueThe current actual joint angular position vector in rad : [Base,Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get actual joint speeds()

Returns the actual angular velocities of all joints

The angular actual velocities are expressed in radians pr. second andreturned as a vector of length 6. Note that the output might differ fromthe output of get target joint speeds(), especially during accelerationand heavy loads.

Return ValueThe current actual joint angular velocity vector in rad/s:[Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

22 URScript

Functions Module internals

get actual tcp pose()

Returns the current measured tool pose

Returns the 6d pose representing the tool position and orientationspecified in the base frame. The calculation of this pose is based onthe actual robot encoder readings.

Return ValueThe current actual TCP vector : ([X, Y, Z, Rx, Ry, Rz])

get actual tcp speed()

Returns the current measured TCP speed

The speed of the TCP retuned in a pose structure. The first three valuesare the cartesian speeds along x,y,z, and the last three define thecurrent rotation axis, rx,ry,rz, and the length |rz,ry,rz| defines the angularvelocity in radians/s.

Return ValueThe current actual TCP velocity vector; ([X, Y, Z, Rx, Ry, Rz])

get actual tool flange pose()

Returns the current measured tool flange pose

Returns the 6d pose representing the tool flange position andorientation specified in the base frame, without the Tool Center Pointoffset. The calculation of this pose is based on the actual robotencoder readings.

Return ValueThe current actual tool flange vector : ([X, Y, Z, Rx, Ry, Rz])

Note: See get actual tcp pose for the actual 6d pose including TCPoffset.

get controller temp()

Returns the temperature of the control box

The temperature of the robot control box in degrees Celcius.

Return ValueA temperature in degrees Celcius (float)

23 URScript


get inverse kin(x, qnear, maxPositionError=1e-10,maxOrientationError=1e-10)

Inverse kinematics

Inverse kinematic transformation (tool space -> joint space). If qnear isdefined, the solution closest to qnear is returned. Otherwise, thesolution closest to the current joint positions is returned.

Parametersx: tool pose

qnear: list of joint positions (Optional)

maxPositionError: the maximum allowed positionerror (Optional)

maxOrientationError: the maximum allowed orientationerror (Optional)

Return Valuejoint positions

get joint temp(j)

Returns the temperature of joint j

The temperature of the joint house of joint j, counting from zero. j=0 isthe base joint, and j=5 is the last joint before the tool flange.

Parametersj: The joint number (int)

Return ValueA temperature in degrees Celcius (float)

get joint torques()

Returns the torques of all joints

The torque on the joints, corrected by the torque needed to move therobot itself (gravity, friction, etc.), returned as a vector of length 6.

Return ValueThe joint torque vector in ; ([float])

24 URScript


get target joint positions()

Returns the desired angular position of all joints

The angular target positions are expressed in radians and returned as avector of length 6. Note that the output might differ from the output ofget actual joint positions(), especially during acceleration and heavyloads.

Return ValueThe current target joint angular position vector in rad: [Base,Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get target joint speeds()

Returns the desired angular velocities of all joints

The angular target velocities are expressed in radians pr. second andreturned as a vector of length 6. Note that the output might differ fromthe output of get actual joint speeds(), especially during accelerationand heavy loads.

Return ValueThe current target joint angular velocity vector in rad/s:[Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get target tcp pose()

Returns the current target tool pose

Returns the 6d pose representing the tool position and orientationspecified in the base frame. The calculation of this pose is based onthe current target joint positions.

Return ValueThe current target TCP vector; ([X, Y, Z, Rx, Ry, Rz])

get target tcp speed()

Returns the current target TCP speed

The desired speed of the TCP returned in a pose structure. The firstthree values are the cartesian speeds along x,y,z, and the last threedefine the current rotation axis, rx,ry,rz, and the length |rz,ry,rz| definesthe angular velocity in radians/s.

Return ValueThe TCP speed; (pose)

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get tcp force()

Returns the wrench (Force/Torque vector) at the TCP

The external wrench is computed based on the error between the jointtorques required to stay on the trajectory and the expected jointtorques. The function returns ”p[Fx (N), Fy(N), Fz(N), TRx (Nm), TRy (Nm),TRz (Nm)]”. where Fx, Fy, and Fz are the forces in the axes of the robotbase coordinate system measured in Newtons, and TRx, TRy, and TRzare the torques around these axes measured in Newton times Meters.

Return Valuethe wrench (pose)

get tool accelerometer reading()

Returns the current reading of the tool accelerometer as athree-dimensional vector.

The accelerometer axes are aligned with the tool coordinates, andpointing an axis upwards results in a positive reading.

Return ValueX, Y, and Z composant of the measured acceleration inSI-units (m/sˆ2).

get tool current()

Returns the tool current

The tool current consumption measured in ampere.

Return ValueThe tool current in ampere.

is steady()

Checks if robot is fully at rest.

True when the robot is fully at rest, and ready to accept higher externalforces and torques, such as from industrial screwdrivers. It is useful incombination with the GUI’s wait node, before starting the screwdriveror other actuators influencing the position of the robot.

Note: This function will always return false in modes other than thestandard position mode, e.g. false in force and teach mode.

Return ValueTrue when the robot is fully at rest. Returns False otherwise(bool)

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is within safety limits(pose)

Checks if the given pose is reachable and within the current safetylimits of the robot.

This check considers joint limits (if the target pose is specified as jointpositions), safety planes limits, TCP orientation deviation limits andrange of the robot. If a solution is found when applying the inversekinematics to the given target TCP pose, this pose is consideredreachable.

Parameterspose: Target pose (which can also be specified as joint

positions)

Return ValueTrue if within limits, false otherwise (bool)

popup(s, title=’Popup’, warning=False, error=False)

Display popup on GUI

Display message in popup window on GUI.

Parameterss: message string

title: title string

warning: warning message?

error: error message?

powerdown()

Shutdown the robot, and power off the robot and controller.

set gravity(d)

Set the direction of the acceleration experienced by the robot. Whenthe robot mounting is fixed, this corresponds to an accleration of gaway from the earth’s centre.

>>> set gravity([0, 9.82*sin(theta), 9.82*cos(theta)])

will set the acceleration for a robot that is rotated ”theta” radiansaround the x-axis of the robot base coordinate system

Parametersd: 3D vector, describing the direction of the gravity, relative

to the base of the robot.

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set payload(m, CoG)

Set payload mass and center of gravity

Alternatively one could use set payload mass and set payload cog.

Sets the mass and center of gravity (abbr. CoG) of the payload.

This function must be called, when the payload weight or weightdistribution changes - i.e when the robot picks up or puts down aheavy workpiece.

The CoG argument is optional - if not provided, the Tool Center Point(TCP) will be used as the Center of Gravity (CoG). If the CoG argumentis omitted, later calls to set tcp(pose) will change CoG to the new TCP.

The CoG is specified as a vector, [CoGx, CoGy, CoGz], displacement,from the toolmount.

Parametersm: mass in kilograms

CoG: Center of Gravity: [CoGx, CoGy, CoGz] in meters.Optional.

set payload cog(CoG)

Set center of gravity

See also set payload.

Sets center of gravity (abbr. CoG) of the payload.

This function must be called, when the weight distribution changes - i.ewhen the robot picks up or puts down a heavy workpiece.

The CoG is specified as a vector, [CoGx, CoGy, CoGz], displacement,from the toolmount.

ParametersCoG: Center of Gravity: [CoGx, CoGy, CoGz] in meters.

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set payload mass(m)

Set payload mass

See also set payload.

Sets the mass of the payload.

This function must be called, when the payload weight changes - i.ewhen the robot picks up or puts down a heavy workpiece.

Parametersm: mass in kilograms

set tcp(pose)

Set the Tool Center Point

Sets the transformation from the output flange coordinate system tothe TCP as a pose.

Parameterspose: A pose describing the transformation.

sleep(t)

Sleep for an amount of time

Parameterst: time [s]

sync()

Uses up the remaining ”physical” time a thread has in the currentframe.

textmsg(s1, s2=’’)

Send text message to log

Send message with s1 and s2 concatenated to be shown on the GUIlog-tab

Parameterss1: message string, variables of other types (int, bool poses

etc.) can also be sent

s2: message string, variables of other types (int, bool posesetc.) can also be sent

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Module urmath

3.2 Variables

Name Descriptionpackage Value: None

4 Module urmath

4.1 Functions

acos(f )

Returns the arc cosine of f

Returns the principal value of the arc cosine of f, expressed in radians.A runtime error is raised if f lies outside the range [-1, 1].

Parametersf: floating point value

Return Valuethe arc cosine of f.

asin(f )

Returns the arc sine of f

Returns the principal value of the arc sine of f, expressed in radians. Aruntime error is raised if f lies outside the range [-1, 1].


Return Valuethe arc sine of f.

atan(f )

Returns the arc tangent of f

Returns the principal value of the arc tangent of f, expressed in radians.


Return Valuethe arc tangent of f.

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Functions Module urmath

atan2(x, y)

Returns the arc tangent of x/y

Returns the principal value of the arc tangent of x/y, expressed inradians. To compute the value, the function uses the sign of botharguments to determine the quadrant.

Parametersx: floating point value

y: floating point value

Return Valuethe arc tangent of x/y.

binary list to integer(l)

Returns the value represented by the content of list l

Returns the integer value represented by the bools contained in the listl when evaluated as a signed binary number.

Parametersl: The list of bools to be converted to an integer. The bool

at index 0 is evaluated as the least significant bit. Falserepresents a zero and True represents a one. If the list isempty this function returns 0. If the list contains more than32 bools, the function returns the signed integer value ofthe first 32 bools in the list.

Return ValueThe integer value of the binary list content.

ceil(f )

Returns the smallest integer value that is not less than f

Rounds floating point number to the smallest integer no greater than f.


Return Valuerounded integer

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cos(f )

Returns the cosine of f

Returns the cosine of an angle of f radians.


Return Valuethe cosine of f.

d2r(d)

Returns degrees-to-radians of d

Returns the radian value of ’d’ degrees. Actually: (d/180)*MATH PI

Parametersd: The angle in degrees

Return ValueThe angle in radians

floor(f )

Returns largest integer not greater than f

Rounds floating point number to the largest integer no greater than f.


Return Valuerounded integer

get list length(v)

Returns the length of a list variable

The length of a list is the number of entries the list is composed of.

Parametersv: A list variable

Return ValueAn integer specifying the length of the given list

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integer to binary list(x)

Returns the binary representation of x

Returns a list of bools as the binary representation of the signed integervalue x.

Parametersx: The integer value to be converted to a binary list.

Return ValueA list of 32 bools, where False represents a zero and Truerepresents a one. The bool at index 0 is the least significantbit.

interpolate pose(p from, p to, alpha)

Linear interpolation of tool position and orientation.

When alpha is 0, returns p from. When alpha is 1, returns p to. As alphagoes from 0 to 1, returns a pose going in a straight line (and geodeticorientation change) from p from to p to. If alpha is less than 0, returns apoint before p from on the line. If alpha is greater than 1, returns apose after p to on the line.

Parametersp from: tool pose (pose)

p to: tool pose (pose)

alpha: Floating point number

Return Valueinterpolated pose (pose)

length(v)

Returns the length of a list variable or a string

The length of a list or string is the number of entries or characters it iscomposed of.

Parametersv: A list or string variable

Return ValueAn integer specifying the length of the given list or string

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log(b, f )

Returns the logarithm of f to the base b

Returns the logarithm of f to the base b. If b or f is negative, or if b is 1 aruntime error is raised.

Parametersb: floating point value

f: floating point value

Return Valuethe logarithm of f to the base of b.

norm(a)

Returns the norm of the argument

The argument can be one of four different types:

Pose: In this case the euclidian norm of the pose is returned.

Float: In this case fabs(a) is returned.

Int: In this case abs(a) is returned.

List: In this case the euclidian norm of the list is returned, the listelements must be numbers.

Parametersa: Pose, float, int or List

Return Valuenorm of a

point dist(p from, p to)

Point distance



Return ValueDistance between the two tool positions (withoutconsidering rotations)

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pose add(p 1, p 2)

Pose addition

Both arguments contain three position parameters (x, y, z) jointly calledP, and three rotation parameters (R x, R y, R z) jointly called R. Thisfunction calculates the result x 3 as the addition of the given poses asfollows:

p 3.P = p 1.P + p 2.P

p 3.R = p 1.R * p 2.R

Parametersp 1: tool pose 1(pose)

p 2: tool pose 2 (pose)

Return ValueSum of position parts and product of rotation parts (pose)

pose dist(p from, p to)

Pose distance



Return Valuedistance

pose inv(p from)

Get the inverse of a pose

Parametersp from: tool pose (spatial vector)

Return Valueinverse tool pose transformation (spatial vector)

pose sub(p to, p from)

Pose subtraction

Parametersp to: tool pose (spatial vector)

p from: tool pose (spatial vector)

Return Valuetool pose transformation (spatial vector)

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pose trans(p from, p from to)

Pose transformation

The first argument, p from, is used to transform the second argument,p from to, and the result is then returned. This means that the result isthe resulting pose, when starting at the coordinate system of p from,and then in that coordinate system moving p from to.

This function can be seen in two different views. Either the functiontransforms, that is translates and rotates, p from to by the parametersof p from. Or the function is used to get the resulting pose, when firstmaking a move of p from and then from there, a move of p from to.

If the poses were regarded as transformation matrices, it would looklike:

T world->to = T world->from * T from->to

T x->to = T x->from * T from->to

Parametersp from: starting pose (spatial vector)

p from to: pose change relative to starting pose (spatialvector)

Return Valueresulting pose (spatial vector)

pow(base, exponent)

Returns base raised to the power of exponent

Returns the result of raising base to the power of exponent. If base isnegative and exponent is not an integral value, or if base is zero andexponent is negative, a runtime error is raised.

Parametersbase: floating point value

exponent: floating point value

Return Valuebase raised to the power of exponent

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r2d(r)

Returns radians-to-degrees of r

Returns the degree value of ’r’ radians.

Parametersr: The angle in radians

Return ValueThe angle in degrees

random()

Random Number

Return Valuepseudo-random number between 0 and 1 (float)

rotvec2rpy(rotation vector)

Returns RPY vector corresponding to rotation vector

Returns the RPY vector corresponding to ’rotation vector’ where therotation vector is the axis of rotation with a length corresponding to theangle of rotation in radians.

Parametersrotation vector: The rotation vector (Vector3d) in

radians, also called the Axis-Anglevector (unit-axis of rotation multiplied bythe rotation angle in radians).

Return ValueThe RPY vector (Vector3d) in radians, describing aroll-pitch-yaw sequence of extrinsic rotations about the X-Y-Zaxes, (corresponding to intrinsic rotations about the Z-Y’-X”axes). In matrix form the RPY vector is defined as Rrpy =Rz(yaw)Ry(pitch)Rx(roll).

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rpy2rotvec(rpy vector)

Returns rotation vector corresponding to rpy vector

Returns the rotation vector corresponding to ’rpy vector’ where theRPY (roll-pitch-yaw) rotations are extrinsic rotations about the X-Y-Z axes(corresponding to intrinsic rotations about the Z-Y’-X” axes).

Parametersrpy vector: The RPY vector (Vector3d) in radians,

describing a roll-pitch-yaw sequence ofextrinsic rotations about the X-Y-Z axes,(corresponding to intrinsic rotations about theZ-Y’-X” axes). In matrix form the RPY vector isdefined as Rrpy = Rz(yaw)Ry(pitch)Rx(roll).

Return ValueThe rotation vector (Vector3d) in radians, also called theAxis-Angle vector (unit-axis of rotation multiplied by therotation angle in radians).

sin(f )

Returns the sine of f

Returns the sine of an angle of f radians.


Return Valuethe sine of f.

sqrt(f )

Returns the square root of f

Returns the square root of f. If f is negative, a runtime error is raised.


Return Valuethe square root of f.

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Module interfaces

tan(f )

Returns the tangent of f

Returns the tangent of an angle of f radians.


Return Valuethe tangent of f.

4.2 Variables


5 Module interfaces

5.1 Functions

get analog in(n)

Deprecated: Get analog input level

Parametersn: The number (id) of the input, integer: [0:3]

Return Valuefloat, The signal level [0,1]

Deprecated: The get standard analog in and get tool analog inreplace this function. Ports 8-9 should be changed to 0-1 for the latterfunction. This function might be removed in the next major release.

Note: For backwards compatibility n:2-3 go to the tool analog inputs.

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Functions Module interfaces

get analog out(n)

Deprecated: Get analog output level


Return Valuefloat, The signal level [0;1]

Deprecated: The get standard analog out replaces this function. Thisfunction might be removed in the next major release.

get configurable digital in(n)

Get configurable digital input signal level

See also get standard digital in and get tool digital in.


Return Valueboolean, The signal level.

get configurable digital out(n)

Get configurable digital output signal level

See also get standard digital out and get tool digital out.

Parametersn: The number (id) of the output, integer: [0:7]


get digital in(n)

Deprecated: Get digital input signal level



Deprecated: The get standard digital in andget tool digital in replace this function. Ports 8-9 should bechanged to 0-1 for the latter function. This function might be removedin the next major release.

Note: For backwards compatibility n:8-9 go to the tool digital inputs.

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get digital out(n)

Deprecated: Get digital output signal level



Deprecated: The get standard digital out andget tool digital out replace this function. Ports 8-9 should bechanged to 0-1 for the latter function. This function might be removedin the next major release.

Note: For backwards compatibility n:8-9 go to the tool digital outputs.

get euromap input(port number)

Reads the current value of a specific Euromap67 input signal. Seehttp://universal-robots.com/support for signal specifications.

>>> var = get euromap input(3)

Parametersport number: An integer specifying one of the available

Euromap67 input signals.

Return ValueA boolean, either True or False

get euromap output(port number)

Reads the current value of a specific Euromap67 output signal. Thismeans the value that is sent from the robot to the injection mouldingmachine. See http://universal-robots.com/support for signalspecifications.

>>> var = get euromap output(3)


Euromap67 output signals.

Return ValueA boolean, either True or False

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get flag(n)

Flags behave like internal digital outputs. The keep informationbetween program runs.

Parametersn: The number (id) of the flag, intereger: [0:32]

Return ValueBoolean, The stored bit.

get standard analog in(n)

Get standard analog input signal level

See also get tool analog in.



get standard analog out(n)

Get standard analog output level


Return Valuefloat, The signal level [0;1]

get standard digital in(n)

Get standard digital input signal level

See also get configurable digital in and get tool digital in.



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get standard digital out(n)

Get standard digital output signal level

See also get configurable digital out and get tool digital out.



get tool analog in(n)

Get tool analog input level

See also get standard analog in.



get tool digital in(n)

Get tool digital input signal level

See also get configurable digital in andget standard digital in.



get tool digital out(n)

Get tool digital output signal level

See also get standard digital out andget configurable digital out.



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modbus add signal(IP, slave number, signal address, signal type,signal name)

Adds a new modbus signal for the controller to supervise. Expects noresponse.

>>> modbus add signal("172.140.17.11", 255, 5, 1, "output1")

ParametersIP: A string specifying the IP address of the

modbus unit to which the modbus signalis connected.

slave number: An integer normally not used and set to255, but is a free choice between 0 and255.

signal address: An integer specifying the address of theeither the coil or the register that this newsignal should reflect. Consult theconfiguration of the modbus unit for thisinformation.

signal type: An integer specifying the type of signalto add. 0 = digital input, 1 = digitaloutput, 2 = register input and 3 = registeroutput.

signal name: A string uniquely identifying the signal. Ifa string is supplied which is equal to analready added signal, the new signal willreplace the old one.

modbus delete signal(signal name)

Deletes the signal identified by the supplied signal name.

>>> modbus delete signal("output1")

Parameterssignal name: A string equal to the name of the signal that

should be deleted.

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modbus get signal status(signal name, is secondary program)

Reads the current value of a specific signal.

>>> modbus get signal status("output1",False)

Parameterssignal name: A string equal to the name of the

signal for which the value shouldbe gotten.

is secondary program: A boolean for interal use only.Must be set to False.

Return ValueAn integer or a boolean. For digital signals: True or False. Forregister signals: The register value expressed as an unsignedinteger.

modbus send custom command(IP, slave number, function code,data)

Sends a command specified by the user to the modbus unit locatedon the specified IP address. Cannot be used to request data, since theresponse will not be received. The user is responsible for supplying datawhich is meaningful to the supplied function code. The builtin functiontakes care of constructing the modbus frame, so the user should notbe concerned with the length of the command.

>>> modbus send custom command("172.140.17.11",103,6,[17,32,2,88])

The above example sets the watchdog timeout on a Beckhoff BK9050to 600 ms. That is done using the modbus function code 6 (preset singleregister) and then supplying the register address in the first two bytes ofthe data array ([17,32] = [0x1120]) and the desired register content inthe last two bytes ([2,88] = [0x0258] = dec 600).

ParametersIP: A string specifying the IP address locating

the modbus unit to which the customcommand should be send.

slave number: An integer specifying the slave number touse for the custom command.

function code: An integer specifying the function codefor the custom command.

data: An array of integers in which each entrymust be a valid byte (0-255) value.

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modbus set output register(signal name, register value,is secondary program)

Sets the output register signal identified by the given name to the givenvalue.

>>> modbus set output register("output1",300,False)

Parameterssignal name: A string identifying an output

register signal that in advancehas been added.

register value: An integer which must be a validword (0-65535) value.


modbus set output signal(signal name, digital value,is secondary program)

Sets the output digital signal identified by the given name to the givenvalue.

>>> modbus set output signal("output2",True,False)

Parameterssignal name: A string identifying an output

digital signal that in advance hasbeen added.

digital value: A boolean to which value thesignal will be set.


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modbus set runstate dependent choice(signal name,runstate choice)

Sets whether an output signal must preserve its state from a program,or it must be set either high or low when a program is not running.

>>> modbus set runstate dependent choice("output2",1)

Parameterssignal name: A string identifying an output digital

signal that in advance has beenadded.

runstate choice: An integer: 0 = preserve program state,1 = set low when a program is notrunning, 2 = set high when a program isnot running.

modbus set signal update frequency(signal name,update frequency)

Sets the frequency with which the robot will send requests to theModbus controller to either read or write the signal value.

>>> modbus set signal update frequency("output2",20)

Parameterssignal name: A string identifying an output digital

signal that in advance has beenadded.

update frequency: An integer in the range 0-125specifying the update frequency in Hz.

read input boolean register(address)

Reads the boolean from one of the input registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> bool val = read input boolean register(3)

Parametersaddress: Address of the register (0:63)

Return ValueThe boolean value held by the register (True, False)

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read input float register(address)

Reads the float from one of the input registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> float val = read input float register(3)


Return ValueThe value held by the register (float)

read input integer register(address)

Reads the integer from one of the input registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> int val = read input integer register(3)


Return ValueThe value held by the register [-2,147,483,648 : 2,147,483,647]

read output boolean register(address)

Reads the boolean from one of the output registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> bool val = read output boolean register(3)


Return ValueThe boolean value held by the register (True, False)

read output float register(address)

Reads the float from one of the output registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> float val = read output float register(3)


Return ValueThe value held by the register (float)

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read output integer register(address)

Reads the integer from one of the output registers, which can also beaccessed by a Field bus. Note, uses it’s own memory space.

>>> int val = read output integer register(3)


Return ValueThe int value held by the register [-2,147,483,648 :2,147,483,647]

read port bit(address)

Reads one of the ports, which can also be accessed by Modbus clients

>>> boolval = read port bit(3)

Parametersaddress: Address of the port (See portmap on Support site,

page ”UsingModbusServer” )

Return ValueThe value held by the port (True, False)

read port register(address)

Reads one of the ports, which can also be accessed by Modbus clients

>>> intval = read port register(3)



Return ValueThe signed integer value held by the port (-32768 : 32767)

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rpc factory(type, url)

Creates a new Remote Procedure Call (RPC) handle. Please read thesubsection ef{Remote Procedure Call (RPC)} for a more detaileddescription of RPCs.

>>> proxy = rpc factory("xmlrpc", "http://127.0.0.1:8080/RPC2")

Parameterstype: The type of RPC backed to use. Currently only the

”xmlrpc” protocol is available.

url: The URL to the RPC server. Currently two protocols aresupported: pstream and http. The pstream URL lookslike ”<ip-address>:<port>”, for instance”127.0.0.1:8080” to make a local connection on port8080. A http URL generally looks like”http://<ip-address>:<port>/<path>”, whereby the<path> depends on the setup of the http server. Inthe example given above a connection to a localPython webserver on port 8080 is made, whichexpects XMLRPC calls to come in on the path”RPC2”.

Return ValueA RPC handle with a connection to the specified server usingthe designated RPC backend. If the server is not availablethe function and program will fail. Any function that is madeavailable on the server can be called using this instance. Forexample ”bool isTargetAvailable(int number, ...)” would be”proxy.isTargetAvailable(var 1, ...)”, whereby any number ofarguments are supported (denoted by the ...).

Note: Giving the RPC instance a good name makes programs muchmore readable (i.e. ”proxy” is not a very good name).

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rtde set watchdog(variable name, min frequency, action=’pause’)

This function will activate a watchdog for a particular input variable tothe RTDE. When the watchdog did not receive an input update for thespecified variable in the time period specified by min frequency (Hz),the corresponding action will be taken. All watchdogs are removed onprogram stop.

>>> rtde set watchdog("input int register 0", 10, "stop")

Parametersvariable name: Input variable name (string), as specified

by the RTDE interface

min frequency: The minimum frequency (float) an inputupdate is expected to arrive.

action: Optional: Either ”ignore”, ”pause” or”stop” the program on a violation of theminimum frequency. The default action is”pause”.

Return ValueNone

Note: Only one watchdog is necessary per RTDE input package toguarantee the specified action on missing updates.

set analog inputrange(port, range)

Deprecated: Set range of analog inputs

Port 0 and 1 is in the controller box, 2 and 3 is in the tool connector.

Parametersport: analog input port number, 0,1 = controller, 2,3 = tool

range: Controller analog input range 0: 0-5V (mapsautomatically onto range 2) and range 2: 0-10V.

range: Tool analog input range 0: 0-5V (mapsautomatically onto range 1), 1: 0-10V and 2:4-20mA.

Deprecated: The set standard analog input domain andset tool analog input domain replace this function. Ports 2-3 shouldbe changed to 0-1 for the latter function. This function might beremoved in the next major release.

Note: For Controller inputs ranges 1: -5-5V and 3: -10-10V are no longersupported and will show an exception in the GUI.

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set analog out(n, f )

Deprecated: Set analog output level


f: The signal level [0;1] (float)

Deprecated: The set standard analog out replaces this function. Thisfunction might be removed in the next major release.

set analog outputdomain(port, domain)

Set domain of analog outputs

Parametersport: analog output port number

domain: analog output domain: 0: 4-20mA, 1: 0-10V

set configurable digital out(n, b)

Set configurable digital output signal level

See also set standard digital out and set tool digital out.


b: The signal level. (boolean)

set digital out(n, b)

Deprecated: Set digital output signal level



Deprecated: The set standard digital out andset tool digital out replace this function. Ports 8-9 should bechanged to 0-1 for the latter function. This function might be removedin the next major release.

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set euromap output(port number, signal value)

Sets the value of a specific Euromap67 output signal. This means thevalue that is sent from the robot to the injection moulding machine.See http://universal-robots.com/support for signal specifications.

>>> set euromap output(3,True)


Euromap67 output signals.

signal value: A boolean, either True or False

set euromap runstate dependent choice(port number,runstate choice)

Sets whether an Euromap67 output signal must preserve its state from aprogram, or it must be set either high or low when a program is notrunning. See http://universal-robots.com/support for signalspecifications.

>>> set euromap runstate dependent choice(3,0)

Parametersport number: An integer specifying a Euromap67

output signal.

runstate choice: An integer: 0 = preserve program state,1 = set low when a program is notrunning, 2 = set high when a program isnot running.

set flag(n, b)

Flags behave like internal digital outputs. The keep informationbetween program runs.

Parametersn: The number (id) of the flag, integer: [0:32]

b: The stored bit. (boolean)

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set runstate configurable digital output to value(outputId, state)

Sets the output signal levels depending on the state of the program(running or stopped).

Example: Set configurable digital output 5 to high when program is notrunning.

>>> set runstate configurable digital output to value(5, 2)

ParametersoutputId: The output signal number (id), integer: [0:7]

state: The state of the output, integer: 0 = Preservestate, 1 = Low when program is not running, 2 =High when program is not running, 3 = Highwhen program is running and low when it isstopped.

set runstate standard analog output to value(outputId, state)

Sets the output signal levels depending on the state of the program(running or stopped).

Example: Set standard analog output 1 to high when program is notrunning.

>>> set runstate standard analog output to value(1, 2)


state: The state of the output, integer: 0 = Preservestate, 1 = Min when program is not running, 2 =Max when program is not running, 3 = Max whenprogram is running and Min when it is stopped.

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set runstate standard digital output to value(outputId, state)

Sets the output signal level depending on the state of the program(running or stopped).

Example: Set standard digital output 5 to high when program is notrunning.

>>> set runstate standard digital output to value(5, 2)



set runstate tool digital output to value(outputId, state)

Sets the output signal level depending on the state of the program(running or stopped).

Example: Set tool digital output 1 to high when program is not running.

>>> set runstate tool digital output to value(1, 2)



set standard analog input domain(port, domain)

Set domain of standard analog inputs in the controller box

For the tool inputs see set tool analog input domain.

Parametersport: analog input port number: 0 or 1

domain: analog input domains: 0: 4-20mA, 1: 0-10V

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set standard analog out(n, f )

Set standard analog output level


f: The relative signal level [0;1] (float)

set standard digital out(n, b)

Set standard digital output signal level

See also set configurable digital out and set tool digital out.



set tool analog input domain(port, domain)

Set domain of analog inputs in the tool

For the controller box inputs see set standard analog input domain.

Parametersport: analog input port number: 0 or 1

domain: analog input domains: 0: 4-20mA, 1: 0-10V

set tool digital out(n, b)

Set tool digital output signal level

See also set configurable digital out andset standard digital out.



set tool voltage(voltage)

Sets the voltage level for the power supply that delivers power to theconnector plug in the tool flange of the robot. The votage can be 0, 12or 24 volts.

Parametersvoltage: The voltage (as an integer) at the tool connector,

integer: 0, 12 or 24.

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socket close(socket name=’socket 0’)

Closes TCP/IP socket communication

Closes down the socket connection to the server.

>>> socket comm close()

Parameterssocket name: Name of socket (string)

socket get var(name, socket name=’socket 0’)

Reads an integer from the server

Sends the message ”get <name> ” through the socket, expects theresponse ”<name> <int> ” within 2 seconds. Returns 0 after timeout

>>> x pos = socket get var("POS X")

Parametersname: Variable name (string)

socket name: Name of socket (string)

Return Valuean integer from the server (int), 0 is the timeout value

socket open(address, port, socket name=’socket 0’)

Open TCP/IP ethernet communication socket

Attempts to open a socket connection, times out after 2 seconds.

Parametersaddress: Server address (string)

port: Port number (int)


Return ValueFalse if failed, True if connection succesfully established

Note: The used network setup influences the performance ofclient/server communication. For instance, TCP/IP communication isbuffered by the underlying network interfaces.

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socket read ascii float(number, socket name=’socket 0’)

Reads a number of ascii formatted floats from the socket. A maximumof 30 values can be read in one command.

>>> list of four floats = socket read ascii float(4)

The format of the numbers should be in parantheses, and seperated by”,”. An example list of four numbers could look like ”( 1.414 , 3.14159,1.616, 0.0 )”.

The returned list contains the total numbers read, and then eachnumber in succession. For example a read ascii float on the exampleabove would return [4, 1.414, 3.14159, 1.616, 0.0].

A failed read or timeout after 2 seconds will return the list with 0 as firstelement and then ”Not a number (nan)” in the following elements (ex.[0, nan., nan, nan] for a read of three numbers).

Parametersnumber: The number of variables to read (int)


Return ValueA list of numbers read (list of floats, length=number+1)

socket read binary integer(number, socket name=’socket 0’)

Reads a number of 32 bit integers from the socket. Bytes are in networkbyte order. A maximum of 30 values can be read in one command.

>>> list of three ints = socket read binary integer(3)

Returns (for example) [3,100,2000,30000], if there is a timeout (2seconds) or the reply is invalid, [0,-1,-1,-1] is returned, indicating that 0integers have been read



Return ValueA list of numbers read (list of ints, length=number+1)

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socket read byte list(number, socket name=’socket 0’)

Reads a number of bytes from the socket. Bytes are in network byteorder. A maximum of 30 values can be read in one command.

>>> list of three ints = socket read byte list(3)

Returns (for example) [3,100,200,44], if there is a timeout (2 seconds) orthe reply is invalid, [0,-1,-1,-1] is returned, indicating that 0 bytes havebeen read



Return ValueA list of numbers read (list of ints, length=number+1)

socket read line(socket name=’socket 0’)

Reads the socket buffer until the first ”\r\n” (carriage return andnewline) characters or just the ”\n” (newline) character, and returnsthe data as a string. The returned string will not contain the ”\n” nor the”\r\n” characters. Bytes are in network byte order.

>>> line from server = socket read line()

Returns (for example) ”reply from the server:”, if there is a timeout (2seconds) or the reply is invalid, an empty line is returned (””). You cantest if the line is empty with an if-statement.

>>> if(line from server) :>>> popup("the line is not empty")>>> end


Return ValueOne line string

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socket read string(socket name=’socket 0’, prefix=’’, suffix=’’)

Reads all data from the socket and returns the data as a string. Bytesare in network byte order.

>>> string from server = socket read string()

Returns (for example) ”reply from the server:\n Hello World”, if there is atimeout (2 seconds) or the reply is invalid, an empty string is returned(””). You can test if the string is empty with an if-statement.

>>> if(string from server) :>>> popup("the string is not empty")>>> end

The optional parameters, ”prefix” and ”suffix”, can be used to expresswhat is extracted from the socket. The ”prefix” specifies the start of thesubstring (message) extracted from the socket. The data upto the endof the ”prefix” will be ignored and removed from the socket. The ”suffix”specifies the end of the substring (message) extracted from the socket.Any remaining data on the socket, after the ”suffix”, will be preserved.E.g. if the socket server sends a string ”noise>hello<”, the controllercan receive the ”hello” by calling this script function with theprefix=”>” and suffix=”<”.

>>> hello = socket read string(prefix=">", suffix="<")

By using the ”prefix” and ”suffix” it is also possible send multiple string tothe controller at ones, because the suffix defines then the messageends. E.g. sending ”>hello<>world<”

>>> hello = socket read string(prefix=">", suffix="<")>>> world = socket read string(prefix=">", suffix="<")


prefix: Defines a prefix (string)

suffix: Defines a suffix (string)

Return ValueString

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socket send byte(value, socket name=’socket 0’)

Sends a byte to the server

Sends the byte <value> through the socket. Expects no response. Canbe used to send special ASCII characters; 10 is newline, 2 is start of text,3 is end of text.

Parametersvalue: The number to send (byte)


Return Valuea boolean value indicating whether the send operation wassuccessful

socket send int(value, socket name=’socket 0’)

Sends an int (int32 t) to the server

Sends the int <value> through the socket. Send in network byte order.Expects no response.

Parametersvalue: The number to send (int)



socket send line(str, socket name=’socket 0’)

Sends a string with a newline character to the server - useful forcommunicatin with the UR dashboard server

Sends the string <str> through the socket in ASCII coding. Expects noresponse.

Parametersstr: The string to send (ascii)



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socket send string(str, socket name=’socket 0’)

Sends a string to the server

Sends the string <str> through the socket in ASCII coding. Expects noresponse.

Parametersstr: The string to send (ascii)



socket set var(name, value, socket name=’socket 0’)

Sends an integer to the server

Sends the message ”set <name> <value> ” through the socket.Expects no response.

>>> socket set var("POS Y",2200)

Parametersname: Variable name (string)

value: The number to send (int)


write output boolean register(address, value)

Writes the boolean value into one of the output registers, which canalso be accessed by a Field bus. Note, uses it’s own memory space.

>>> write output boolean register(3, True)


value: Value to set in the register (True, False)

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Variables Module interfaces

write output float register(address, value)

Writes the float value into one of the output registers, which can alsobe accessed by a Field bus. Note, uses it’s own memory space.

>>> write output float register(3, 37.68)


value: Value to set in the register (float)

write output integer register(address, value)

Writes the integer value into one of the output registers, which can alsobe accessed by a Field bus. Note, uses it’s own memory space.

>>> write output integer register(3, 12)


value: Value to set in the register [-2,147,483,648 :2,147,483,647]

write port bit(address, value)

Writes one of the ports, which can also be accessed by Modbus clients

>>> write port bit(3,True)



value: Value to be set in the register (True, False)

write port register(address, value)

Writes one of the ports, which can also be accessed by Modbus clients

>>> write port register(3,100)



value: Value to be set in the port (0 : 65536) or (-32768 :32767)

5.2 Variables

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Variables Module interfaces


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