The URScript Programming Language

Version 5.9
CONTENTS CONTENTS

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Contents

Contents 2

1 The URScript Programming Language 3

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Connecting to URControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Numbers, Variables, and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Matrix and Array expressions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Flow of Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5.1 Special keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.7 Remote Procedure Call (RPC) . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.8 Scoping rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.9 Threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.9.1 Threads and scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.9.2 Thread scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.10 Program Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.11 Secondary Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Module motion 14
2.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3 Module internals 44
3.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4 Module urmath 65
4.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

5 Module interfaces 83
5.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

2 URScript
CONTENTS CONTENTS

5.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

6 Module ioconfiguration 120

6.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
6.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

7 Module processpath 131

7.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
7.2 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
7.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
7.3.1 Example 1 - Executing a remote TCP path . . . . . . . . . . . . . . . . 137
7.3.2 Example 2 - Executing a regular TCP path using 5-DOF . . . . . . . . 138
7.3.3 Example 3 - Executing a path and set digital output . . . . . . . . . . 139
7.4 myToolPathFile.nc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

3 URScript
 The URScript Programming Language

1 The URScript Programming Language

1.1 Introduction

The Universal Robot can be controlled at two levels:

• The PolyScope or the Graphical User Interface Level

• Script Level

At the Script Level, the URScript is the programming language that controls the robot.
The URScript includes variables, types, and the flow control statements. There are also
built-in variables and functions that monitor and control I/O and robot movements.

1.2 Connecting to URControl

URControl is the low-level robot controller running on the PC in the Control Box. When
the PC boots up, the URControl starts up as a daemon (i.e., a service) and the PolyScope
or Graphical 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 (running
at another PC) and connecting to URControl using a TCP/IP socket.

• hostname: ur-xx (or the IP address found in the About Dialog-Box in PolyScope if
the robot is not in DNS).

• port: 30002

When a connection has been established URScript programs or commands are sent in
clear text on the socket. Each line is terminated by “\n”. Note that the text can only
consist of extended ASCII characters.

The following conditions must be met to ensure that the URControl correctly recognizes
the script:

• The script must start from a function definition or a secondary function definition
(either "def" or "sec" keywords) in the first column

• All other script lines must be indented by at least one white space

• The last line of script must be an "end" keyword starting in the first column

4 URScript
Numbers, Variables, and Types The URScript Programming Language

1.3 Numbers, Variables, and Types

In URScript arithmetic expression syntax is standard:

1+2-3
4*5/6
(1+2)*3/(4-5)
101%100
"Hello" + ", " + "World!"

In boolean expressions, boolean operators are spelled out:

True or False and (1 == 2)

1 > 2 or 3 != 4 xor 5 < -6
not 42 >= 87 and 87 <= 42
"Hello" != "World" and "abc" == "abc"

Variable assignment is done using the equal sign =:

foo = 42
bar = False or True and not False
baz = 87-13/3.1415
hello = "Hello, World!"
l = [1,2,4]
m = [[1,2,3],[4,5,6],[6,7,8]]
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, bar is a bool, baz is a double, l is an array,
m is a matrix and target is a pose: a combination of a position and orientation.

The fundamental types are:

• none

• bool

• number - either int or float

• array

• matrix

• pose

• string

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

Note that strings are fundamentally byte arrays without knowledge of the encoding
used for the characters it contains. Therefore some string functions appear to oper-
ate on characters (e.g. str_len), but they operate on bytes. The result may differ
from what is expected when the string containing sequences of multi-byte or variable-

5 URScript
Matrix and Array expressions The URScript Programming Language

length characters. Refer to the description of the single function for more details.

1.4 Matrix and Array expressions

Matrix and array operations can be assigned to a variable to store and manipulate
multiple numbers at the same time. It is also possible to get access and write to a
single entry of the matrix. The matrix and array are 0-indexed.

array = [1,2,3,4,5]
a = array[0]
array[2] = 10

matrix = [[1,2],[3,4],[5,6]]
b = matrix[0,0]
matrix[2,1] = 20

Matrix and array can be manipulated by matrix-matrix, array-array, matrix-array, matrix-

scalar and array-scalar operations.

Matrix-matrix multiplication operations are supported if the first matrix’s number of

columns matches the second matrix’s number of rows. The resulting matrix will have
the dimensions of the first matrix number of rows and the second matrix number of
columns.

C = [[1,2],[3,4],[5,6]] * [[10,20,30],[40,50,60]]

Matrix-array multiplication operations are supported if the matrix is the first operand
and array is second. If the matrix’s number of columns matches the arrays length, the
resulting array will have the length as the matrix number of rows.

C = [[1,2],[3,4],[5,6]] * [10,20]

Array-array operations are possible if both arrays are of the same length and supports:
addition, subtraction, multiplication, division and modulo operations. The operation is
executed index by index on both arrays and thus results in an array of the same length.
E.g. a[i] − b[i] = c[i].

mul = [1,2,3] * [10,20,30]

div = [10,20,30] / [1,2,3]
add = [1,2,3] + [10,20,30]
sub = [10,20,30] - [1,2,3]
mod = [10,20,30] % [1,2,3]

Scalar operations on a matrix or an array are possible. They support addition, subtrac-
tion, multiplication, division and modulo operations. The scalar operations are done
on all the entries of the matrix or the array. E.g. a[i] + b = c[i]

mul1 = [1,2,3] * 5
mul2 = 5 * [[1,2],[3,4],[5,6]]
div1 = [10,20,30] / 10
div2 = 10 / [10,20,30]

6 URScript
Flow of Control The URScript Programming Language

add1 = [1,2,3] + 10
add2 = 10 + [1,2,3]
sub1 = [10,20,30] - 5
sub2 = 5 - [[10,20],[30,40]]
mod1 = [11,22,33] % 5
mod2 = 121 % [[10,20],[30,40]]

1.5 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 = 0
while i < 5:
l[i] = l[i]*2
i = i + 1
end

You can use break to stop a loop prematurely and continue to pass control to the
next iteration of the nearest enclosing loop.

1.5.1 Special keywords

• halt terminates the program.

• return returns from a function. When no value is returned, the keyword None
must follow the keyword return.

1.6 Function

A function is declared as follows:

def add(a, b):

return a+b
end

The function can then be called like this:

7 URScript
Remote Procedure Call (RPC) The URScript Programming Language

result = add(1, 4)

It is also possible to give function arguments default values:

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

If default values are given in the declaration, arguments can be either input or skipped
as below:

result = add(0,0)
result = add()

When calling a function, it is important to comply with the declared order of the ar-
guments. If the order is different from its definition, the function does not work as ex-
pected.

Arguments can only be passed by value (including arrays). This means that any modi-
fication done to the content of the argument within the scope of the function will not
be reflected outside that scope.

def myProg()

a = [50,100]

fun(a)

def fun(p1):
p1[0] = 25
assert(p1[0] == 25)
...
end

assert(a[0] == 50)
...
end

URScript also supports named parameters.

1.7 Remote Procedure Call (RPC)

Remote Procedure Calls (RPC) are similar to normal function calls, except that the
function 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 stops pro-
gram execution. The controller uses the XMLRPC standard to send the parameters to
the remote site and retrieve the result(s). During an RPC call, the controller waits for
the remote function to complete. The XMLRPC standard is among others supported
by C++ (xmlrpc-c library), Python and Java.

8 URScript
Scoping rules The URScript Programming Language

Creating a URScript program to initialize a camera, take a snapshot and retrieve a

new target pose:

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 an XMLRPC connection to

the specified remote server. The camera variable is the handle for the remote function
calls. You must initialize the camera and therefore call camera.initialize("RGB").
The function returns a boolean value to indicate if the request was successful. In order
to find a target position, the camera first takes a picture, hence the camera.takeSnapshot()
call. Once the snapshot is taken, the image analysis in the remote site calculates the
location of the target. Then the program asks for the exact target location with the
function call target = camera.getTarget(). On return the target variable is as-
signed 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.

1.8 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 region
where the variable is directly accessible. Two qualifiers are available to modify this
visibility:

• local qualifier tells the controller to treat a variable inside a function, as being
truly local, even if a global variable with the same name exists.

• global qualifier forces a variable declared inside a function, to be globally ac-

cessible.

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 a
free variable), the controller will first try to find the variable in the globals and otherwise
the variable will be treated as local.

In the following example, the first a is a global variable and the second a is a local
variable. Both variables are independent, even though they have the same name:

def myProg():

9 URScript
Scoping rules The URScript Programming Language

global a = 0

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

Beware that the global variable is no longer accessible from within the function, as the
local 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

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 the
global qualifier is missing or the local qualifier is used:

def myProg():

10 URScript
Threads The URScript Programming Language

a = 0

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

The variables a are one and the same.

1.9 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:

thread myThread():
# Do some stuff
return False
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 return
statement is allowed in the thread, the value returned is discarded, and cannot be
accessed from outside the thread. A thread can contain other threads, the same
way 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:

thread myThread():
# Do some stuff
return False
end

thrd = run myThread()

The value returned by the run command is a handle to the running thread. This handle
can be used to interact with a running thread. The run command spawns from the new
thread, and then executes the instruction following the run instruction.

A thread can only wait for a running thread spawned by itself. To wait for a running
thread to finish, use the join command:

11 URScript
Threads The URScript Programming Language

thread myThread():
# Do some stuff
return False
end

thrd = run myThread()

join thrd

This halts the calling threads execution, until the specified thread finishes its execution.
If the thread is already finished, the statement has no effect.

To kill a running thread, use the kill command:

thread myThread():
# Do some stuff
return False
end

thrd = run myThread()

kill thrd

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

To protect against race conditions and other thread-related issues, support for critical
sections is provided. A critical section ensures the enclosed code can finish running
before another thread can start running. The previous statement is always true, unless
a time-demanding command is present within the scope of the critical section. In such
a case, another thread will be allowed to run. Time-demanding commands include
sleep, sync, move-commands, and socketRead. Therefore, it is important to keep the
critical section as short as possible. The syntax is as follows:

thread myThread():
enter_critical
# Do some stuff
exit_critical
return False
end

12 URScript
Program Label The URScript Programming Language

1.9.1 Threads and scope

The scoping rules for threads are exactly the same, as those used for functions. See 1.8
for a discussion of these rules.

1.9.2 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 500 Hz, or in other words, it must be told
what to do every 0.002 second (each 0.002 second period is called a frame). To
achieve this, each thread is given a “physical” (or robot) time slice of 0.002 seconds to
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 executing
instructions that control the robot), or it can execute instructions that do not control
the robot, and therefore do not use any “physical” time. If a thread uses up its entire
time slice, either by use of “physical” time or by computational heavy instructions (such
as an infinite loop that do not control the robot) it is placed in a non-runnable state,
and is not allowed to run until the next frame starts. If a thread does not use its time
slice within a frame, it is expected to switch to a non-runnable state before the end
of the frame2 . The reason for this state 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. Inserting sync or
sleep will allow time for other threads to be executed and is therefore recommended
to use next to computational heavy instructions or inside infinite loops that do not con-
trol the robot, otherwise an exception like "Runtime is too much behind" can be raised
with a consequent protective stop.

1.10 Program Label

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

$ 2 "var_1= True "

global var_1= True
1
Before the start of each frame the threads are sorted, such that the thread with the largest remaining
time slice is to be scheduled first.
2
If this expectation is not met, the program is stopped.

13 URScript
Secondary Programs The URScript Programming Language

1.11 Secondary Programs

Secondary program is executed by the robot controller concurrently and simultane-

ously with the primary script program. It could be used to handle the I/O signals,
while the primary program moves the robot between waypoints. A secondary pro-
gram could be sent to controller via primary or secondary TCP/IP socket, just like any
other script program and must follow the same script syntax as regular robot programs.

Notable exception is that secondary program should not use any “physical” time. In
particular, it cannot contain sleep, or move statements. Secondary program must be
simple enough to be executed in a single controller step, without blocking the realtime
thread.

Exceptions on secondary program do not stop execution of the primary program. Ex-
ceptions are reported in robot controller log files.

The secondary function must be defined using the keyword "sec" as follows:

sec secondaryProgram():
set_digital_out(1,True)
end

14 URScript
 Module motion

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 500hz.

Robot trajectories are generated online by calling the move functions movej, movel
and 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 6
Floats. 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).

15 URScript
Functions Module motion

2.1 Functions

conveyor_pulse_decode(type, A, B)
Deprecated:Tells the robot controller to treat digital inputs number A
and B as pulses for a conveyor encoder. Only digital input 0, 1, 2 or 3
can be used.
Parameters
type: 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 be
square waves with 90 degree offset. Direction of the
conveyor 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 inputs
0-3.
B: Encoder input B, values of 0-3 are the digital inputs
0-3.
Deprecated: This function is replaced by
encoder_enable_pulse_decode and it should therefore not be used
moving forward.
>>> conveyor_pulse_decode(1,0,1)
This example shows how to set up quadrature pulse decoding with
input 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 pulse
decoding with input A = digital_in[3]. Note that you do not have to set
parameter B (as it is not used anyway).
Example command: conveyor_pulse_decode(1, 2, 3)
• Example Parameters:
– type = 1 → is quadrature encoder, input A and B must be
square waves with 90 degree offset. Direction of the
conveyor can be determined.
– A = 2 → Encoder output A is connected to digital input 2
– B = 3 → Encoder output B is connected to digital input 3

16 URScript
Functions Module motion

encoder_enable_pulse_decode(encoder_index, decoder_type, A, B)
Sets up an encoder hooked up to a pulse decoder of the controller.

>>> encoder_enable_pulse_decode(0,0,1,8,9)

This example shows how to set up encoder 0 decoding a quadrature

signal connected to pin 8 and 9.
Parameters
encoder_index: Index of the encoder to define. Must be
either 0 or 1.
decoder_type: 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 be square waves with 90 degree
offset. Direction of the conveyor 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 pin. Must be 8-11.
B: Encoder input B pin. Must be 8-11.

17 URScript
Functions Module motion

encoder_enable_set_tick_count(encoder_index, range_id)
Sets up an encoder expecting to be updated with tick counts via the
function encoder_set_tick_count.

>>> encoder_enable_set_tick_count(0,0)

This example shows how to set up encoder 0 to expect counts in the

range of [-2147483648 ; 2147483647].
Parameters
encoder_index: Index of the encoder to define. Must be
either 0 or 1.
range_id: decoder_index: Range of the encoder
(integer). Needed to handle wrapping
nicely.
0 is a 32 bit signed encoder, range
[-2147483648 ; 2147483647]
1 is a 8 bit unsigned encoder, range [0 ;
255]
2 is a 16 bit unsigned encoder, range [0 ;
65535]
3 is a 24 bit unsigned encoder, range [0 ;
16777215]
4 is a 32 bit unsigned encoder, range [0 ;
4294967295]

encoder_get_tick_count(encoder_index)
Returns the tick count of the designated encoder.

>>> encoder_get_tick_count(0)

This example returns the current tick count of encoder 0. Use caution
when subtracting encoder tick counts. Please see the function
encoder_unwind_delta_tick_count.
Parameters
encoder_index: Index of the encoder to query. Must be
either 0 or 1.
Return Value
The conveyor encoder tick count (float)

18 URScript
Functions Module motion

encoder_set_tick_count(encoder_index, count)
Tells the robot controller the tick count of the encoder. This function is
useful for absolute encoders (e.g. MODBUS).

>>> encoder_set_tick_count(0, 1234)

This example sets the tick count of encoder 0 to 1234. Assumes that the
encoder is enabled using encoder_enable_set_tick_count first.
Parameters
encoder_index: Index of the encoder to define. Must be
either 0 or 1.
count: The tick count to set. Must be within the
range of the encoder.

19 URScript
Functions Module motion

encoder_unwind_delta_tick_count(encoder_index, delta_tick_count)
Returns the delta_tick_count. Unwinds in case encoder wraps around
the range. If no wrapping has happened the given delta_tick_count is
returned without any modification.

Consider the following situation: You are using an encoder with a

UINT16 range, meaning the tick count is always in the [0; 65536[ range.
When the encoder is ticking, it may cross either end of the range,
which causes the tick count to wrap around to the other end. During
your program, the current tick count is assigned to a variable
(start:=encoder_get_tick_count(...)). Later, the tick count is assigned to
another variable (current:=encoder_get_tick_count(...)). To calculate
the distance the conveyor has traveled between the two sample
points, the two tick counts are subtracted from each other.

For example, the first sample point is near the end of the range (e.g.,
start:=65530). When the conveyor arrives at the second point, the
encoder may have crossed the end of its range, wrapped around, and
reached a value near the beginning of the range (e.g., current:=864).
Subtracting the two samples to calculate the motion of the conveyor is
not robust, and may result in an incorrect result
(delta=current-start=-64666).

Conveyor tracking applications rely on these kinds of encoder

calculations. Unless special care is taken to compensate the encoder
wrapping around, the application will not be robust and may produce
weird behaviors (e.g., singularities or exceeded speed limits) which are
difficult to explain and to reproduce.

This heuristic function checks that a given delta_tick_count value is

reasonable. If the encoder wrapped around the end of the range, it
compensates (i.e., unwinds) and returns the adjusted result. If a
delta_tick_count is larger than half the range of the encoder, wrapping
is assumed and is compensated. As a consequence, this function only
works when the range of the encoder is explicitly known, and therefore
the designated encoder must be enabled. If not, this function will
always return nil.
Parameters
encoder_index: Index of the encoder to query. Must
be either 0 or 1.
delta_tick_count: The delta (difference between two)
tick count to unwind (float)
Return Value
The unwound delta_tick_count (float)

20 URScript
Functions Module motion

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.

end_screw_driving()
Exit screw driving mode and return to normal operation.

end_teach_mode()
Set robot back in normal position control mode after freedrive mode.

21 URScript
Functions Module motion

force_mode(task_frame, selection_vector, wrench, type, limits)

Set robot to be controlled in force mode
Parameters
task_frame: A pose vector that defines the force
frame relative to the base frame.
selection_vector: A 6d vector of 0s and 1s. 1 means that
the robot will be compliant in the
corresponding axis of the task frame.
wrench: The forces/torques the robot will apply
to its environment. The robot adjusts its
position along/about compliant axis in
order to achieve the specified
force/torque. Values have no effect
for non-compliant axes.
Actual wrench applied may be lower
than requested due to joint safety
limits. Actual forces and torques can
be read using get_tcp_force
function in a separate thread.
type: An integer [1;3] specifying how the
robot interprets the force frame.
1: The force frame is transformed in a
way such that its y-axis is aligned with
a vector pointing from the robot tcp
towards the origin of the force frame.
2: The force frame is not transformed.
3: The force frame is transformed in a
way such that its x-axis is the projection
of the robot tcp velocity vector onto
the x-y plane of the force frame.
limits: (Float) 6d vector. For compliant axes,
these values are the maximum
allowed tcp speed along/about the
axis. For non-compliant axes, these
values are the maximum allowed
deviation along/about an axis
between the actual tcp position and
the one set by the program.
Note: Remember to tare the force-torque sensor by calling
zero_ftsensor() first. Avoid movements parallel to compliant axes and
high deceleration (consider inserting a short sleep command of at
least 0.02s) just before entering force mode. Avoid high acceleration in
force mode as this decreases the force control accuracy.

22 URScript
Functions Module motion

force_mode_example()
This is an example of the above force_mode() function
Example command: force_mode(p[0.1,0,0,0,0.785],
[1,0,0,0,0,0], [20,0,40,0,0,0], 2,
[.2,.1,.1,.785,.785,1.57])
• Example Parameters:
– Task frame = p[0.1,0,0,0,0.785] → This frame is offset from the
base frame 100 mm in the x direction and rotated 45 degrees
in the rz direction
– Selection Vector = [1,0,0,0,0,0] → The robot is compliant in the
x direction of the Task frame above.
– Wrench = [20,0,40,0,0,0] → The robot apples 20N in the x
direction. It also accounts for a 40N external force in the z
direction.
– Type = 2 → The force frame is not transformed.
– Limits = [.1,.1,.1,.785,.785,1.57] → max x velocity is 100 mm/s,
max y deviation is 100 mm, max z deviation is 100 mm, max rx
deviation is 45 deg, max ry deviation is 45 deg, max rz
deviation is 90 deg.

force_mode_set_damping(damping)
Sets the damping parameter in force mode.
Parameters
damping: Between 0 and 1, default value is 0.005.
A value of 1 is full damping, so the robot will
decellerate quickly if no force is present. A value
of 0 is no damping, here the robot will maintain
the speed.
The value is stored until this function is called
again. Add this to the beginning of your program
to ensure it is called before force mode is entered
(otherwise default value will be used).

23 URScript
Functions Module motion

force_mode_set_gain_scaling(scaling)
Scales the gain in force mode.
Parameters
scaling: scaling parameter between 0 and 2, default is 1.
A value larger than 1 can make force mode
unstable, e.g. in case of collisions or pushing
against hard surfaces.
The value is stored until this function is called
again. Add this to the beginning of your program
to ensure it is called before force mode is entered
(otherwise default value will be used).

freedrive_mode()
Set robot in freedrive mode. In this mode the robot can be moved
around 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 this
mode.

get_conveyor_tick_count()
Deprecated: Tells the tick count of the encoder, note that the
controller interpolates tick counts to get more accurate movements
with low resolution encoders
Return Value
The conveyor encoder tick count
Deprecated: This function is replaced by encoder_get_tick_count
and it should therefore not be used moving forward.

get_target_tcp_pose_along_path()
Query the target TCP pose as given by the trajectory being followed.

This script function is useful in conjunction with the path offsetting

feature or conveyor tracking to know what the target pose of the TCP
would be if no offset was applied.
Return Value
Target TCP pose

24 URScript
Functions Module motion

get_target_tcp_speed_along_path()
Query the target TCP speed as given by the trajectory being followed.

This script function is useful in conjunction with the path offsetting

feature and conveyor tracking to know what the target speed of the
TCP would be if no offset was applied.
Return Value
Target TCP speed as a vector

25 URScript
Functions Module motion

movec(pose_via, pose_to, a=1.2, v=0.25, r=0, mode=0)

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

TCP moves on the circular arc segment from current pose, through
pose_via to pose_to. Accelerates to and moves with constant tool
speed v. Use the mode parameter to define the orientation
interpolation.
Parameters
pose_via: path point (note: only position is used). Pose_via
can also be specified as joint positions, then
forward kinematics is used to calculate the
corresponding pose.
pose_to: target pose (note: only position is used in Fixed
orientation mode). Pose_to can also be
specified as joint positions, then forward
kinematics is used to calculate the
corresponding pose.
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius (of target pose) [m]
mode: 0: Unconstrained mode. Interpolate orientation
from current pose to target pose (pose_to)
1: Fixed mode. Keep orientation constant
relative to the tangent of the circular arc
(starting from current pose)
Example command: movec(p[x,y,z,0,0,0], pose_to, a=1.2,
v=0.25, r=0.05, mode=1)
• Example Parameters:
– Note: first position on circle is previous waypoint.
– pose_via = p[x,y,z,0,0,0] → second position on circle.
∗ Note rotations are not used so they can be left as zeros.
∗ Note: This position can also be represented as joint
angles [j0,j1,j2,j3,j4,j5] then forward kinematics is used to
calculate the corresponding pose
– pose_to → third (and final) position on circle
– a = 1.2 → acceleration is 1.2 m/s/s
– v = 0.25 → velocity is 250 mm/s
– r = 0 → blend radius (at pose_to) is 50 mm.
– mode = 1 → use fixed orientation relative to tangent of
circular arc

26 URScript
Functions Module motion

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

Move to position (linear in joint-space)

When using this command, the robot must be at a standstill or come

from a movej or movel with a blend. The speed and acceleration
parameters control the trapezoid speed profile of the move.
Alternatively, the t parameter can be used to set the time for this
move. Time setting has priority over speed and acceleration settings.
Parameters
q: joint positions (q can also be specified as a pose, then
inverse kinematics is used to calculate the corresponding
joint positions)
a: joint acceleration of leading axis [rad/s^2]
v: joint speed of leading axis [rad/s]
t: time [S]
r: blend radius [m]
If a blend radius is set, the robot arm trajectory will be
modified to avoid the robot stopping at the point.
However, if the blend region of this move overlaps with
the blend radius of previous or following waypoints, this
move will be skipped, and an ’Overlapping Blends’
warning message will be generated.
Example command: movej([0,1.57,-1.57,3.14,-1.57,1.57],
a=1.4, v=1.05, t=0, r=0)
• Example Parameters:
– q = [0,1.57,-1.57,3.14,-1.57,1.57] → base is at 0 deg rotation,
shoulder is at 90 deg rotation, elbow is at -90 deg rotation,
wrist 1 is at 180 deg rotation, wrist 2 is at -90 deg rotation, wrist
3 is at 90 deg rotation. Note: joint positions (q can also be
specified as a pose, then inverse kinematics is used to
calculate the corresponding joint positions)
– a = 1.4 → acceleration is 1.4 rad/s/s
– v = 1.05 → velocity is 1.05 rad/s
– t = 0 → the time (seconds) to make move is not specified. If it
were specified the command would ignore the a and v
values.
– r = 0 → the blend radius is zero meters.

27 URScript
Functions Module motion

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

Move to position (linear in tool-space)

See movej.
Parameters
pose: target pose (pose can also be specified as joint
positions, then forward kinematics is used to
calculate the corresponding pose)
a: tool acceleration [m/s^2]
v: tool speed [m/s]
t: time [S]
r: blend radius [m]
Example command: movel(pose, a=1.2, v=0.25, t=0, r=0)
• Example Parameters:
– pose = p[0.2,0.3,0.5,0,0,3.14] → position in base frame of x =
200 mm, y = 300 mm, z = 500 mm, rx = 0, ry = 0, rz = 180 deg
– a = 1.2 → acceleration of 1.2 m/s^2
– v = 0.25 → velocity of 250 mm/s
– t = 0 → the time (seconds) to make the move is not specified.
If it were specified the command would ignore the a and v
values.
– r = 0 → the blend radius is zero meters.

28 URScript
Functions Module motion

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

Move Process

Blend circular (in tool-space) and move linear (in tool-space) to

position. Accelerates to and moves with constant tool speed v.
Parameters
pose: target pose (pose can also be specified as joint
positions, then forward kinematics is used to
calculate the corresponding pose)
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius [m]
Example command: movep(pose, a=1.2, v=0.25, r=0)
• Example Parameters:
– pose = p[0.2,0.3,0.5,0,0,3.14] → position in base frame of x =
200 mm, y = 300 mm, z = 500 mm, rx = 0, ry = 0, rz = 180 deg.
– a = 1.2 → acceleration of 1.2 m/s^2
– v = 0.25 → velocity of 250 mm/s
– r = 0 → the blend radius is zero meters.

path_offset_disable(a=20)
Disable the path offsetting and decelerate all joints to zero speed.

Uses the stopj functionality to bring all joints to a rest. Therefore, all
joints will decelerate at different rates but reach stand-still at the same
time.

Use the script function path_offset_enable to enable path offsetting

Parameters
a: joint acceleration [rad/s^2] (optional)

29 URScript
Functions Module motion

path_offset_enable()
Enable path offsetting.

Path offsetting is used to superimpose a Cartesian offset onto the robot

motion as it follows a trajectory. This is useful for instance for imposing a
weaving motion onto a welding task, or to compensate for the effect
of moving the base of the robot while following a trajectory.

Path offsets can be applied in various frames of reference and in

various ways. Please refer to the script function path_offset_set for
further explanation.

Enabling path offsetting doesn’t cancel the effects of previous calls to

the script functions path_offset_set_max_offset and
path_offset_set_alpha_filter. Path offset configuration will persist
through cycles of enable and disable.

path_offset_get(type)
Query the offset currently applied.
Parameters
type: Specifies the frame of reference of the returned
offset. Please refer to the path_offset_set script
function for a definition of the possible values and
their meaning.
Return Value
Pose specifying the translational and rotational offset. Units
are meters and radians.

30 URScript
Functions Module motion

path_offset_set(offset, type)
Specify the Cartesian path offset to be applied.

Use the script function path_offset_enable beforehand to enable

offsetting. The calculated offset is applied during each cycle at 500Hz.

Discontinuous or jerky offsets are likely to cause protective stops. If

offsets are not smooth the function path_offset_set_alpha_filter
can be used to engage a simple filter.

The following example uses a harmonic wave (cosine) to offset the

position of the TCP along the Z-axis of the robot base:

>>> thread OffsetThread():

>>> while(True):
>>> # 2Hz cosine wave with an amplitude of 5mm
>>> global x = 0.005*(cos(p) - 1)
>>> global p = p + 4*3.14159/500
>>> path_offset_set([0,0,x,0,0,0], 1)
>>> sync()
>>> end
>>> end
Parameters
offset: Pose specifying the translational and rotational
offset.
type: Specifies how to apply the given offset. Options
are:
• 1: (BASE) Use robot base coordinates when
applying.
• 2: (TCP) Use robot TCP coordinates when
applying.
• 3: (MOTION) Use a coordinate system following
the un-offset trajectory when applying. This
coordinate system is defined as follows. X-axis
along the tangent of the translational part of
the un-offset trajectory (rotation not relevant
here). Y-axis perpendicular to the X-axis above
and the Z-axis of the tool (X cross Z). Z-axis
given from the X and Y axes by observing the
right-hand rule. This is useful for instance for
superimposing a weaving pattern onto the
trajectory when welding.
• 4: (BASE INVERTED) Invert the offset and use
robot base coordinates when applying. This is
useful for compensation when the robot base
is moving i.e. keeping the robot TCP steady
when the base is offset.

31 URScript
Functions Module motion

path_offset_set_alpha_filter(alpha)
Engage offset filtering using a simple alpha filter (EWMA) and set the
filter coefficient.

An alpha filter is a very simple 1st order IIR filter using a weighted sum of
the target and current offset: current = alpha*target +
(1-alpha)*current
Parameters
alpha: The filter coefficient to be used. Must be between 0
and 1. A value of 1 is equivalent to no filtering. For
welding, experiments have shown that a value
around 0.1 is a good compromise between
robustness and offsetting accuracy.

path_offset_set_max_offset(transLimit, rotLimit)
Set limits for the maximum allowed offset.

Due to safety and due to the finite reach of the robot, path offsetting
limits the magnitude of the offset to be applied. Use this function to
adjust these limits. Per default limits of 0.1 meters and 30 degrees (0.52
radians) are used.
Parameters
transLimit: The maximum allowed translational offset
distance along any axis in meters.
rotLimit: The maximum allowed rotational offset
around any axis in radians.

32 URScript
Functions Module motion

pause_on_error_code(code, argument)
Makes the robot pause if the specified error code occurs. The robot will
only pause during program execution. This setting is reset when the
program is stopped - call the command again before/during program
execution to re-enable it.

>>> pause_on_error_code(173, 7)

In the above example, the robot will pause on errors with code 173 if its
argument equals 7 (corresponding to ’C173A7’ in the log).

>>> pause_on_error_code(173)

In the above example, the robot will pause on error code 173 for any
argument value.
Parameters
code: The code of the error for which the robot should
pause (int)
argument: The argument of the error. If this parameter is
omitted the robot will pause on any argument
for the specified error code (int)
Notes:
• Error codes appear in the log as CxAy where ’x’ is the
code and ’y’ is the argument.
• There is a short delay from when the pause is triggered
until the robot is fully paused. In some special cases the
program might reach the subsequent program line
before it is paused.

33 URScript
Functions Module motion

position_deviation_warning(enabled, threshold=0.8)
When enabled, this function generates warning messages to the log
when the robot deviates from the target position. This function can be
called at any point in the execution of a program. It has no return
value.

>>> position_deviation_warning(True)

In the above example, the function has been enabled. This means that
log messages will be generated whenever a position deviation occurs.
The optional "threshold" parameter can be used to specify the level of
position deviation that triggers a log message.
Parameters
enabled: (Boolean) Enable or disable position deviation
log messages.
threshold: (Float) Optional value in the range [0;1], where
0 is no position deviation and 1 is the maximum
position deviation (equivalent to the amount of
position deviation that causes a protective
stop of the robot). If no threshold is specified by
the user, a default value of 0.8 is used.
Example command: position_deviation_warning(True, 0.8)
• Example Parameters:
– Enabled = True → Logging of warning is turned on
– Threshold = 0.8 → 80% of deviation that causes a protective
stop causes a warning to be logged in the log history file.

34 URScript
Functions Module motion

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 on
joints which safety limits are set to "Unlimited" and are only applied
when new safety settings are applied with limitted joint angles.

>>> reset_revolution_counter()
Parameters
qNear: Optional parameter, reset the revolution counter to
one close to the given qNear joint vector. If not
defined, the joint’s actual number of revolutions are
used.
Example command: reset_revolution_counter(qNear=[0.0,
0.0, 0.0, 0.0, 0.0, 0.0])
• Example Parameters:
– qNear = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] → Optional parameter,
resets the revolution counter of wrist 3 to zero on UR3 robots
to the nearest zero location to joint rotations represented by
qNear.

35 URScript
Functions Module motion

screw_driving(f, v_limit)
Enter screw driving mode. The robot will exert a force in the TCP Z-axis
direction at limited speed. This allows the robot to follow the screw
during tightening/loosening operations.
Parameters
f: The amount of force the robot will exert along the
TCP Z-axis (Newtons).
v_limit: Maximum TCP velocity along the Z axis (m/s).
Notes:
• Zero the F/T sensor without the screw driver pushing
against the screw.
• Call end_screw_driving when the screw driving
operation has completed.
>>> def testScrewDriver():
>>> # Zero F/T sensor
>>> zero_ftsensor()
>>> sleep(0.02)
>>>
>>> # Move the robot to the tightening position
>>> # (i.e. just before contact with the screw)
>>> ...
>>>
>>> # Start following the screw while tightening
>>> screw_driving(5.0, 0.1)
>>>
>>> # Wait until screw driver reports OK or NOK
>>> ...
>>>
>>> # Exit screw driving mode
>>> end_screw_driving()
>>> end

36 URScript
Functions Module motion

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

Servo Circular

Servo to position (circular in tool-space). Accelerates to and moves

with constant tool speed v.
Parameters
pose: target pose (pose can also be specified as joint
positions, then forward kinematics is used to
calculate the corresponding pose)
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius (of target pose) [m]
Example command: servoc(p[0.2,0.3,0.5,0,0,3.14], a=1.2,
v=0.25, r=0)
• Example Parameters:
– pose = p[0.2,0.3,0.5,0,0,3.14] → position in base frame of x =
200 mm, y = 300 mm, z = 500 mm, rx = 0, ry = 0, rz = 180 deg.
– a = 1.2 → acceleration of 1.2 m/s^2
– v = 0.25 → velocity of 250 mm/s
– r = 0 → the blend radius at the target position is zero meters.

37 URScript
Functions Module motion

servoj(q, a, v, t=0.002, lookahead_time=0.1, gain=300)

Servoj can be used for online realtime control of joint positions.

The gain parameter works the same way as the P-term of a PID
controller, where it adjusts the current position towards the desired (q).
The higher the gain, the faster reaction the robot will have.

The parameter lookahead_time is used to project the current position

forward in time with the current velocity. A low value gives fast
reaction, a high value prevents overshoot.

Note: A high gain or a short lookahead time may cause instability and
vibrations. Especially if the target positions are noisy or updated at a
low frequency

It is preferred to call this function with a new setpoint (q) in each time
step (thus the default t=0.002)

You can combine with the script command get_inverse_kin() to

perform servoing based on cartesian positions:

>>> q = get_inverse_kin(x)
>>> servoj(q, lookahead_time=0.05, gain=500)

Here x is a pose variable with target cartesian positions, received over

a socket or RTDE registers.
Example command: servoj([0.0,1.57,-1.57,0,0,3.14], 0, 0,
0.002, 0.1, 300)
• Example Parameters:
– q = [0.0,1.57,-1.57,0,0,3.14] → joint angles in radians
representing rotations of base, shoulder, elbow, wrist1, wrist2
and wrist3
– a = 0 → not used in current version
– v = 0 → not used in current version
– t = 0.002 → time where the command is controlling the robot.
The function is blocking for time t [S].
– lookahead time = .1 → time [S], range [0.03,0.2] smoothens
the trajectory with this lookahead time
– gain = 300 → proportional gain for following target position,
range [100,2000]

38 URScript
Functions Module motion

set_conveyor_tick_count(tick_count, absolute_encoder_resolution=0)
Deprecated: Tells the robot controller the tick count of the encoder.
This function is useful for absolute encoders, use
conveyor_pulse_decode() for setting up an incremental encoder. For
circular conveyors, the value must be between 0 and the number of
ticks per revolution.
Parameters
tick_count: Tick count of the
conveyor (Integer)
absolute_encoder_resolution: Resolution of the
encoder, needed to
handle wrapping nicely.
(Integer)
0 is a 32 bit signed
encoder, range
[-2147483648 ;
2147483647] (default)
1 is a 8 bit unsigned
encoder, range [0 ; 255]
2 is a 16 bit unsigned
encoder, range [0 ;
65535]
3 is a 24 bit unsigned
encoder, range [0 ;
16777215]
4 is a 32 bit unsigned
encoder, range [0 ;
4294967295]
Deprecated: This function is replaced by encoder_set_tick_count
and it should therefore not be used moving forward.
Example command: set_conveyor_tick_count(24543, 0)
• Example Parameters:
– Tick_count = 24543 → a value read from e.g. a MODBUS
register being updated by the absolute encoder
– Absolute_encoder_resolution = 0 → 0 is a 32 bit signed
encoder, range [-2147483648 ;2147483647] (default)

39 URScript
Functions Module motion

set_pos(q)
Set joint positions of simulated robot
Parameters
q: joint positions
Example command: set_pos([0.0,1.57,-1.57,0,0,3.14])
• Example Parameters:
– q = [0.0,1.57,-1.57,0,0,3.14] → the position of the simulated
robot with joint angles in radians representing rotations of
base, shoulder, elbow, wrist1, wrist2 and wrist3

set_safety_mode_transition_hardness(type)
Sets the transition hardness between normal mode, reduced mode
and safeguard stop.
Parameters
type: An integer specifying transition hardness.
0 is hard transition between modes using maximum
torque, similar to emergency stop.
1 is soft transition between modes.

speedj(qd, a, t)
Joint speed

Accelerate linearly in joint space and continue with constant joint

speed. The time t is optional; if provided the function will return after
time t, regardless of the target speed has been reached. If the time t is
not provided, the function will return when the target speed is reached.
Parameters
qd: joint speeds [rad/s]
a: joint acceleration [rad/s^2] (of leading axis)
t: time [s] before the function returns (optional)
Example command: speedj([0.2,0.3,0.1,0.05,0,0], 0.5, 0.5)
• Example Parameters:
– qd → Joint speeds of: base=0.2 rad/s, shoulder=0.3 rad/s,
elbow=0.1 rad/s, wrist1=0.05 rad/s, wrist2 and wrist3=0 rad/s
– a = 0.5 rad/s^2 → acceleration of the leading axis (shoulder
in this case)
– t = 0.5 s → time before the function returns

40 URScript
Functions Module motion

speedl(xd, a, t, aRot=’a’)
Tool speed

Accelerate linearly in Cartesian space and continue with constant tool

speed. The time t is optional; if provided the function will return after
time t, regardless of the target speed has been reached. If the time t is
not provided, the function will return when the target speed is reached.
Parameters
xd: tool speed [m/s] (spatial vector)
a: tool position acceleration [m/s^2]
t: time [s] before function returns (optional)
aRot: tool acceleration [rad/s^2] (optional), if not defined
a, position acceleration, is used
Example command: speedl([0.5,0.4,0,1.57,0,0], 0.5, 0.5)
• Example Parameters:
– xd → Tool speeds of: x=500 mm/s, y=400 mm/s, rx=90 deg/s,
ry and rz=0 mm/s
– a = 0.5 rad/s^2 → acceleration of the leading axis (shoulder is
this case)
– t = 0.5 s → time before the function returns

stop_conveyor_tracking(a=20)
Stop tracking the conveyor, started by track_conveyor_linear() or
track_conveyor_circular(), and decelerate all joint speeds to zero.
Parameters
a: joint acceleration [rad/s^2] (optional)
Example command: stop_conveyor_tracking(a=15)
• Example Parameters:
– a = 15 rad/s^2 → acceleration of the joints

41 URScript
Functions Module motion

stopj(a)
Stop (linear in joint space)

Decelerate joint speeds to zero

Parameters
a: joint acceleration [rad/s^2] (of leading axis)
Example command: stopj(2)
• Example Parameters:
– a = 2 rad/s^2 → rate of deceleration of the leading axis.

stopl(a, aRot=’a’)
Stop (linear in tool space)

Decelerate tool speed to zero

Parameters
a: tool accleration [m/s^2]
aRot: tool acceleration [rad/s^2] (optional), if not defined
a, position acceleration, is used
Example command: stopl(20)
• Example Parameters:
– a = 20 m/s^2 → rate of deceleration of the tool
– aRot → tool deceleration [rad/s^2] (optional), if not defined,
position acceleration, is used. i.e. it supersedes the "a"
deceleration.

teach_mode()
Set robot in freedrive mode. In this mode the robot can be moved
around 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 this
mode.

42 URScript
Functions Module motion

track_conveyor_circular(center, ticks_per_revolution,
rotate_tool=’False’, encoder_index=0)
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 with
center in p[0.5,0.5,0,0,0,0] of the robot base coordinate system, where
500 ticks on the encoder corresponds to one revolution of the circular
conveyor around the center.
Parameters
center: Pose vector that determines
center of the conveyor in the
base coordinate system of the
robot.
ticks_per_revolution: How many ticks the encoder sees
when the conveyor moves one
revolution.
rotate_tool: Should the tool rotate with the
coneyor or stay in the orientation
specified by the trajectory
(movel() etc.).
encoder_index: The index of the encoder to
associate with the conveyor
tracking. Must be either 0 or 1.
This is an optional argument, and
please note the default of 0. The
ability to omit this argument will
allow existing programs to keep
working. Also, in use cases where
there is just one conveyor to track
consider leaving this argument
out.
Example command:
track_conveyor_circular(p[0.5,0.5,0,0,0,0], 500.0, false)
• Example Parameters:
– center = p[0.5,0.5,0,0,0,0] → location of the center of the
conveyor
– ticks_per_revolution = 500 → the number of ticks the encoder
sees when the conveyor moves one revolution
– rotate_tool = false → the tool should not rotate with the
conveyor, but stay in the orientation specified by the
trajectory (movel() etc.).

43 URScript
Variables Module motion

track_conveyor_linear(direction, ticks_per_meter, encoder_index=0)

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 of
the robot base coordinate system, where 1000 ticks on the encoder
corresponds to 1m along the x-axis.
Parameters
direction: Pose vector that determines the
direction of the conveyor in the base
coordinate system of the robot
ticks_per_meter: How many ticks the encoder sees when
the conveyor moves one meter
encoder_index: The index of the encoder to associate
with the conveyor tracking. Must be
either 0 or 1. This is an optional
argument, and please note the default
of 0. The ability to omit this argument
will allow existing programs to keep
working. Also, in use cases where there
is just one conveyor to track consider
leaving this argument out.
Example command: track_conveyor_linear(p[1,0,0,0,0,0],
1000.0)
• Example Parameters:
– direction = p[1,0,0,0,0,0] → Pose vector that determines the
direction of the conveyor in the base coordinate system of
the robot
– ticks_per_meter = 1000. → How many ticks the encoder sees
when the conveyor moves one meter.

2.2 Variables

Name Description
__package__ Value: ’Motion’
a_joint_default Value: 1.4
a_tool_default Value: 1.2
v_joint_default Value: 1.05
v_tool_default Value: 0.25

44 URScript
 Module internals

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 the
norm of Fx, Fy, and Fz calculated using get_tcp_force().
Return Value
The force in Newtons (float)
Note: Refer to force_mode() for taring the sensor.

get_actual_joint_positions()
Returns the actual angular positions of all joints

The angular actual positions are expressed in radians and returned as a

vector of length 6. Note that the output might differ from the output of
get_target_joint_positions(), especially during acceleration and heavy
loads.
Return Value
The current actual joint angular position vector in rad : [Base,
Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get_actual_joint_positions_history(steps=0)
Returns the actual past angular positions of all joints

This function returns the angular positions as reported by the function

"get_actual_joint_positions()" which indicates the number of controller
time steps occurring before the current time step.

An exception is thrown if indexing goes beyond the buffer size.

Parameters
steps: The number of controller time steps required to go
back. 0 corresponds to "get_actual_joint_positions()"
Return Value
The joint angular position vector in rad : [Base, Shoulder,
Elbow, Wrist1, Wrist2, Wrist3] that was actual at the provided
number of steps before the current time step.

45 URScript
Functions Module internals

get_actual_joint_speeds()
Returns the actual angular velocities of all joints

The angular actual velocities are expressed in radians pr. second and
returned as a vector of length 6. Note that the output might differ from
the output of get_target_joint_speeds(), especially during acceleration
and heavy loads.
Return Value
The current actual joint angular velocity vector in rad/s:
[Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get_actual_tcp_pose()
Returns the current measured tool pose

Returns the 6d pose representing the tool position and orientation

specified in the base frame. The calculation of this pose is based on
the actual robot encoder readings.
Return Value
The 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 values
are the cartesian speeds along x,y,z, and the last three define the
current rotation axis, rx,ry,rz, and the length |rz,ry,rz| defines the
angular velocity in radians/s.
Return Value
The 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 and

orientation specified in the base frame, without the Tool Center Point
offset. The calculation of this pose is based on the actual robot
encoder readings.
Return Value
The current actual tool flange vector: [X, Y, Z, Rx, Ry, Rz]
Note: See get_actual_tcp_pose for the actual 6d pose including TCP
offset.

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Functions Module internals

get_controller_temp()
Returns the temperature of the control box

The temperature of the robot control box in degrees Celcius.

Return Value
A temperature in degrees Celcius (float)

get_forward_kin(q=’current_joint_positions’,
tcp=’active_tcp’)
Calculate the forward kinematic transformation (joint space -> tool
space) using the calibrated robot kinematics. If no joint position vector
is provided the current joint angles of the robot arm will be used. If no
tcp is provided the currently active tcp of the controller will be used.
Parameters
q: joint position vector (Optional)
tcp: tcp offset pose (Optional)
Return Value
tool pose
Example command: get_forward_kin([0.,3.14,1.57,.785,0,0],
p[0,0,0.01,0,0,0])
• Example Parameters:
– q = [0.,3.14,1.57,.785,0,0] → joint angles of j0=0 deg, j1=180
deg, j2=90 deg, j3=45 deg, j4=0 deg, j5=0 deg.
– tcp = p[0,0,0.01,0,0,0] → tcp offset of x=0mm, y=0mm,
z=10mm and rotation vector of rx=0 deg., ry=0 deg, rz=0 deg.

47 URScript
Functions Module internals

get_inverse_kin(x, qnear, maxPositionError=1e-10,

maxOrientationError=1e-10, tcp=’active_tcp’)
Calculate the inverse kinematic transformation (tool space -> joint
space). If qnear is defined, the solution closest to qnear is returned.
Otherwise, the solution closest to the current joint positions is returned. If
no tcp is provided the currently active tcp of the controller will be used.
Parameters
x: tool pose
qnear: list of joint positions (Optional)
maxPositionError: the maximum allowed position
error (Optional)
maxOrientationError: the maximum allowed orientation
error (Optional)
tcp: tcp offset pose (Optional)
Return Value
joint positions
Example command: get_inverse_kin(p[.1,.2,.2,0,3.14,0],
[0.,3.14,1.57,.785,0,0])
• Example Parameters:
– x = p[.1,.2,.2,0,3.14,0] → pose with position of x=100mm,
y=200mm, z=200mm and rotation vector of rx=0 deg., ry=180
deg, rz=0 deg.
– qnear = [0.,3.14,1.57,.785,0,0] → solution should be near to
joint angles of j0=0 deg, j1=180 deg, j2=90 deg, j3=45 deg,
j4=0 deg, j5=0 deg.
– maxPositionError is by default 1e-10 m
– maxOrientationError is by default 1e-10 rad

48 URScript
Functions Module internals

get_inverse_kin_has_solution(pose, qnear, maxPositionError=1e-10,

maxOrientationError=1e-10, tcp=’active_tcp’)
Check if get_inverse_kin has a solution and return boolean (True) or
(False). This can be used to avoid the runtime exception of
get_inverse_kin when no solution exists.

This function is only available from SW 5.9.4.

Parameters
pose: tool pose
qnear: list of joint positions (Optional)
maxPositionError: the maximum allowed position
error (Optional)
maxOrientationError: the maximum allowed orientation
error (Optional)
tcp: tcp offset pose (Optional)
Return Value
True if get_inverse_kin has a solution, False otherwise (bool)

get_joint_temp(j)
Returns the temperature of joint j

The temperature of the joint house of joint j, counting from zero. j=0 is
the base joint, and j=5 is the last joint before the tool flange.
Parameters
j: The joint number (int)
Return Value
A 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 the
robot itself (gravity, friction, etc.), returned as a vector of length 6.
Return Value
The joint torque vector in Nm: [Base, Shoulder, Elbow, Wrist1,
Wrist2, Wrist3]

49 URScript
Functions Module internals

get_steptime()
Returns the duration of the robot time step in seconds.

In every time step, the robot controller will receive measured joint
positions and velocities from the robot, and send desired joint positions
and velocities back to the robot. This happens with a predetermined
frequency, in regular intervals. This interval length is the robot time step.
Return Value
duration of the robot step in seconds

get_target_joint_positions()
Returns the desired angular position of all joints

The angular target positions are expressed in radians and returned as a

vector of length 6. Note that the output might differ from the output of
get_actual_joint_positions(), especially during acceleration and heavy
loads.
Return Value
The 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 and
returned as a vector of length 6. Note that the output might differ from
the output of get_actual_joint_speeds(), especially during acceleration
and heavy loads.
Return Value
The current target joint angular velocity vector in rad/s:
[Base, Shoulder, Elbow, Wrist1, Wrist2, Wrist3]

get_target_payload()
Returns the weight of the active payload
Return Value
The weight of the current payload in kilograms

50 URScript
Functions Module internals

get_target_payload_cog()
Retrieve the Center Of Gravity (COG) coordinates of the active
payload.

This scripts returns the COG coordinates of the active payload, with
respect to the tool flange
Return Value
The 3d coordinates of the COG [CoGx, CoGy, CoGz] in
meters

get_target_tcp_pose()
Returns the current target tool pose

Returns the 6d pose representing the tool position and orientation

specified in the base frame. The calculation of this pose is based on
the current target joint positions.
Return Value
The 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 first
three values are the cartesian speeds along x,y,z, and the last three
define the current rotation axis, rx,ry,rz, and the length |rz,ry,rz| defines
the angular velocity in radians/s.
Return Value
The TCP speed (pose)

get_target_waypoint()
Returns the target waypoint of the active move

This is different from the get_target_tcp_pose() which returns the target

pose for each time step. The get_target_waypoint() returns the same
target pose for movel, movej, movep or movec during the motion. It
returns the same as get_target_tcp_pose(), if none of the mentioned
move functions are running.

This method is useful for calculating relative movements where the

previous move command uses blends.
Return Value
The desired waypoint TCP vector [X, Y, Z, Rx, Ry, Rz]

51 URScript
Functions Module internals

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

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 robot base
coordinate system measured in Newtons, and TRx, TRy, and TRz are the
torques around these axes measured in Newton times Meters.
Return Value
The wrench (pose)
Note: Refer to force_mode() for taring the sensor.

get_tcp_offset()
Gets the active tcp offset, i.e. the transformation from the output
flange coordinate system to the TCP as a pose.
Return Value
tcp offset pose

get_tool_accelerometer_reading()
Returns the current reading of the tool accelerometer as a
three-dimensional vector.

The accelerometer axes are aligned with the tool coordinates, and
pointing an axis upwards results in a positive reading.
Return Value
X, Y, and Z composant of the measured acceleration in
SI-units (m/s^2).

get_tool_current()
Returns the tool current

The tool current consumption measured in ampere.

Return Value
The tool current in ampere.

52 URScript
Functions Module internals

is_steady()
Checks if robot is fully at rest.

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

Note: This function will always return false in modes other than the
standard position mode, e.g. false in force and teach mode.
Return Value
True when the robot is fully at rest. Returns False otherwise
(bool)

is_within_safety_limits(pose, qnear)
Checks if the given pose or q is reachable and within the current safety
limits of the robot.

This check considers joint limits (if the target pose is specified as joint
positions), TCP orientation limit and range of the robot. If a solution is
found when applying the inverse kinematics to the given target TCP
pose, this pose is considered reachable.
Parameters
pose: Target pose or joint position
qnear: list of joint positions (Optional) Only used when
target is a pose
Return Value
True if within limits, false otherwise (bool)
Deprecated: This function is deprecated, since it does not apply the
same algorithm as get_inverse_kin. It is recommended to use
get_inverse_kin_has_solution instead.

53 URScript
Functions Module internals

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

Display popup on GUI

Display message in popup window on GUI.

Parameters
s: message string
title: title string
warning: warning message?
error: error message?
blocking: if True, program will be suspended until
"continue" is pressed
Example command: popup("here I am", title="Popup
#1",blocking=True)
• Example Parameters:
– s popup text is "here I am"
– title popup title is "Popup #1"
– blocking = true → popup must be cleared before other
actions will be performed.

powerdown()
Shutdown the robot, and power off the robot and controller.

set_gravity(d)
Set the direction of the acceleration experienced by the robot. When
the robot mounting is fixed, this corresponds to an accleration of g
away 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" radians
around the x-axis of the robot base coordinate system
Parameters
d: 3D vector, describing the direction of the gravity, relative
to the base of the robot.
Example command: set_gravity(0,9.82,0)
• Example Parameters:
– d is vector with a direction of y (direction of the robot cable)
and a magnitude of 9.82 m/s^2 (1g).

54 URScript
Functions Module internals

set_payload(m, cog)
Set payload mass and center of gravity

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

This function must be called, when the payload weight or weight

distribution changes - i.e when the robot picks up or puts down a
heavy workpiece.
Parameters
m: mass in kilograms
cog: Center of Gravity, a vector [CoGx, CoGy, CoGz]
specifying the displacement (in meters) from the
toolmount.
Warning: Omitting the cog parameter is deprecated. The Tool Center
Point (TCP) will be used if the cog parameter is missing with the side
effect that later calls to set_tcp will change also the CoG to the new
TCP. Use the set_payload_mass function to change only the mass or
use the get_target_payload_cog as second argument to not
change the CoG.
Example command:
• set_payload(3., [0,0,.3])
– Example Parameters:
∗ m = 3 → mass is set to 3 kg payload
∗ cog = [0,0,.3] → Center of Gravity is set to x=0
mm, y=0 mm, z=300 mm from the center of the
tool mount in tool coordinates
• set_payload(2.5, get_target_payload_cog())
– Example Parameters:
∗ m = 2.5 → mass is set to 2.5 kg payload
∗ cog = use the current COG setting

set_payload_cog(CoG)
Set the Center of Gravity (CoG)
Deprecated: This function is deprecated. It is recommended to set
always the CoG with the mass (see set_payload).

55 URScript
Functions Module internals

set_payload_mass(m)
Set payload mass

See also set_payload.

Sets the mass of the payload and leaves the center of gravity (CoG)
unchanged.
Parameters
m: mass in kilograms
Example command: set_payload_mass(3.)
• Example Parameters:
– m = 3 → mass is set to 3 kg payload

set_tcp(pose)
Sets the active tcp offset, i.e. the transformation from the output flange
coordinate system to the TCP as a pose.
Parameters
pose: A pose describing the transformation.
Example command: set_tcp(p[0.,.2,.3,0.,3.14,0.])
• Example Parameters:
– pose = p[0.,.2,.3,0.,3.14,0.] → tool center point is set to
x=0mm, y=200mm, z=300mm, rotation vector is rx=0 deg,
ry=180 deg, rz=0 deg. In tool coordinates

sleep(t)
Sleep for an amount of time
Parameters
t: time [s]
Example command: sleep(3.)
• Example Parameters:
– t = 3. → time to sleep

56 URScript
Functions Module internals

str_at(src, index)
Provides direct access to the bytes of a string.

This script returns a string containing the byte in the source string at the
position corresponding to the specified index. It may not correspond
to an actual character in case of strings with special encoded
character (i.e. multi-byte or variable-length encoding)

The string is zero-indexed.

Parameters
src: source string.
index: integer specifying the position inside the source
string.
Return Value
String containing the byte at position index in the source
string. An exception is raised if the index is not valid.
Example command:
• str_at("Hello", 0)
– returns "H"
• str_at("Hello", 1)
– returns "e"
• str_at("Hello", 10)
– error (index out of bound)
• str_at("", 0)
– error (source string is empty)

57 URScript
Functions Module internals

str_cat(op1, op2)
String concatenation

This script returns a string that is the concatenation of the two operands
given as input. Both operands can be one of the following types:
String, Boolean, Integer, Float, Pose, List of Boolean / Integer / Float /
Pose. Any other type will raise an exception.

The resulting string cannot exceed 1023 characters, an exception is

thrown otherwise.

Float numbers will be formatted with 6 decimals, and trailing zeros will
be removed.

The function can be nested to create complex strings (see last

example).
Parameters
op1: first operand
op2: second operand
Return Value
String concatenation of op1 and op2
Example command:
• str_cat("Hello", " World!")
– returns "Hello World!"
• str_cat("Integer ", 1)
– returns "Integer 1"
• str_cat("", p[1.0, 2.0, 3.0, 4.0, 5.0, 6.0])
– returns "p[1, 2, 3, 4, 5, 6]"
• str_cat([True, False, True], [1, 0, 1])
– returns "[True, False, True][1, 0, 1]"
• str_cat(str_cat("", str_cat("One",
"Two")),str_cat(3, 4))
– returns "OneTwo34"

58 URScript
Functions Module internals

str_empty(str)
Returns true when str is empty, false otherwise.
Parameters
str: source string.
Return Value
True if the string is empty, false otherwise
Example command:
• str_empty("")
– returns True
• str_empty("Hello")
– returns False

str_find(src, target, start_from=0)

Finds the first occurrence of the substring target in src.

This script returns the index (i.e. byte) of the the first occurrence of
substring target in str, starting from the given (optional) position.

The result may not correspond to the actual position of the first
character of target in case src contains multi-byte or variable-length
encoded characters.

The string is zero-indexed.

Parameters
src: source string.
target: substring to search.
start_from: optional starting position (default 0).
Return Value
The index of the first occurrence of target in src, -1 if target
is not found in src.
Example command:
• str_find("Hello World!", "o")
– returns 4
• str_find("Hello World!", "lo")
– returns 3
• str_find("Hello World!", "o", 5)
– returns 7
• str_find("abc", "z")
– returns -1

59 URScript
Functions Module internals

str_len(str)
Returns the number of bytes in a string.

Please not that the value returned may not correspond to the actual
number of characters in sequences of multi-byte or variable-length
encoded characters.

The string is zero-indexed.

Parameters
str: source string.
Return Value
The number of bytes in the input string.
Example command:
• str_len("Hello")
– returns 5
• str_len("")
– returns 0

60 URScript
Functions Module internals

str_sub(src, index, len)

Returns a substring of src.

The result is the substring of src that starts at the byte specified by
index with length of at most len bytes. If the requested substring
extends past the end of the original string (i.e. index + len > src
length), the length of the resulting substring is limited to the size of src.

An exception is thrown in case index and/or len are out of bounds.

The string is zero-indexed.
Parameters
src: source string.
index: integer value specifying the initial byte in the range
[0, src length]
len: (optional) length of the substring in the range [0,
MAX_INT]. If len is not specified, the string in the
range [index, src length].
Return Value
the portion of src that starts at byte index and spans len
characters.
Example command:
• str_sub("0123456789abcdefghij", 5, 3)
– returns "567"
• str_sub("0123456789abcdefghij", 10)
– returns "abcdefghij"
• str_sub("0123456789abcdefghij", 2, 0)
– returns "" (len is 0)
• str_sub("abcde", 2, 50)
– returns "cde"
• str_sub("abcde", -5, 50)
– error: index is out of bounds

sync()
Uses up the remaining "physical" time a thread has in the current frame.

61 URScript
Functions Module internals

textmsg(s1, s2=’’)
Send text message to log

Send message with s1 and s2 concatenated to be shown on the GUI

log-tab
Parameters
s1: message string, variables of other types (int, bool poses
etc.) can also be sent
s2: message string, variables of other types (int, bool poses
etc.) can also be sent
Example command: textmsg("value=", 3)
• Example Parameters:
– s1 set first part of message to "value="
– s2 set second part of message to 3
∗ message in the log is "value=3"

62 URScript
Functions Module internals

to_num(str)
Converts a string to a number.

to_num returns an integer or a float depending on the presence of a

decimal point in the input string. Only ’.’ is recognized as decimal point
independent of locale settings.

Valid strings can contains optional leading white space(s) followed by

an optional plus (’+’) or minus sign (’-’) and then one of the following:

(i) A decimal number consisting of a sequence of decimal digits (e.g.

10, -5), an optional ’.’ to indicate a float number (e.g. 1.5234, -2.0, .36)
and a optional decimal exponent that indicates multiplication by a
power of 10 (e.g. 10e3, 2.5E-5, -5e-4).

(ii) A hexadecimal number consisting of "0x" or "0X" followed by a

nonempty sequence of hexadecimal digits (e.g. "0X3A", "0xb5").

(iii) An infinity (either "INF" or "INFINITY", case insensitive)

(iv) A Not-a-Number ("NAN", case insensitive)

Runtime exceptions are raised if the source string doesn’t contain a

valid number or the result is out of range for the resulting type.
Parameters
str: string to convert
Return Value
Integer or float number according to the input string.
Example command:
• to_num("10")
– returns 10 //integer
• to_num("3.14")
– returns 3.14 //float
• to_num("-3.0e5")
– returns -3.0e5 //float due to ’.’ in the input string
• to_num("+5.")
– returns 5.0 //float due to ’.’ in the input string
• to_num("123abc")
– error string doesn’t contain a valid number

63 URScript
Functions Module internals

to_str(val)
Gets string representation of a value.

This script converts a value of type Boolean, Integer, Float, Pose (or a list
of those types) to a string.

The resulting string cannot exceed 1023 characters.

Float numbers will be formatted with 6 decimals, and trailing zeros will
be removed.
Parameters
val: value to convert
Return Value
The string representation of the given value.
Example command:
• to_str(10)
– returns "10"
• to_str(2.123456123456)
– returns "2.123456"
• to_str(p[1.0, 2.0, 3.0, 4.0, 5.0, 6.0])
– returns "p[1, 2, 3, 4, 5, 6]"
• to_str([True, False, True])
– returns "[True, False, True]"

tool_contact(direction)
Detects when a contact between the tool and an object happens.
Parameters
direction: List of six floats. The first three elements are
interpreted as a 3D vector (in the robot base
coordinate system) giving the direction in
which contacts should be detected. If all
elements of the list are zero, contacts from all
directions are considered.
Return Value
Integer. The returned value is the number of time steps back
to just before the contact have started. A value larger than
0 means that a contact is detected. A value of 0 means no
contact.

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tool_contact_examples()
Example of usage in conjunction with the
"get_actual_joint_positions_history()" function to allow the robot to
retract to the initial point of contact:

>>> def testToolContact():

>>> while True:
>>> step_back = tool_contact()
>>> if step_back <= 0:
>>> # Continue moving with 100mm/s
>>> speedl([0,0,-0.100,0,0,0], 0.5, t=get_steptime())
>>> else:
>>> # Contact detected!
>>> # Get q for when the contact was first seen
>>> q = get_actual_joint_positions_history(step_back)
>>> # Stop the movement
>>> stopl(3)
>>> # Move to the initial contact point
>>> movel(q)
>>> break
>>> end
>>> end
>>> end
Example command: tool_contact(direction =
get_target_tcp_speed())
• Example Parameters:
– direction=get_target_tcp_speed() will detect contacts in the
direction of TCP movement
tool_contact(direction = [1,0,0,0,0,0])
• Example Parameters:
– direction=[1,0,0,0,0,0] will detect contacts in the direction
robot base X

3.2 Variables

Name Description
__package__ Value: None

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 Module urmath

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].
Parameters
f: floating point value
Return Value
the arc cosine of f.
Example command: acos(0.707)
• Example Parameters:
– f is the cos of 45 deg. (.785 rad)
∗ Returns .785

asin(f )
Returns the arc sine of f

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

runtime error is raised if f lies outside the range [-1, 1].
Parameters
f: floating point value
Return Value
the arc sine of f.
Example command: asin(0.707)
• Example Parameters:
– f is the sin of 45 deg. (.785 rad)
∗ Returns .785

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atan(f )
Returns the arc tangent of f

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

Parameters
f: floating point value
Return Value
the arc tangent of f.
Example command: atan(1.)
• Example Parameters:
– f is the tan of 45 deg. (.785 rad)
∗ Returns .785

atan2(x, y)
Returns the arc tangent of x/y

Returns the principal value of the arc tangent of x/y, expressed in

radians. To compute the value, the function uses the sign of both
arguments to determine the quadrant.
Parameters
x: floating point value
y: floating point value
Return Value
the arc tangent of x/y.
Example command: atan2(.5,.5)
• Example Parameters:
– x is the one side of the triangle
– y is the second side of a triangle
∗ Returns atan(.5/.5) = .785

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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 list
l when evaluated as a signed binary number.
Parameters
l: The list of bools to be converted to an integer. The bool
at index 0 is evaluated as the least significant bit. False
represents a zero and True represents a one. If the list is
empty this function returns 0. If the list contains more than
32 bools, the function returns the signed integer value of
the first 32 bools in the list.
Return Value
The integer value of the binary list content.
Example command:
binary_list_to_integer([True,False,False,True])
• Example Parameters:
– l represents the binary values 1001
∗ Returns 9

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.

Parameters
f: floating point value
Return Value
rounded integer
Example command: ceil(1.43)
• Example Parameters:
– Returns 2

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cos(f )
Returns the cosine of f

Returns the cosine of an angle of f radians.

Parameters
f: floating point value
Return Value
the cosine of f.
Example command: cos(1.57)
• Example Parameters:
– f is angle of 1.57 rad (90 deg)
∗ Returns 0.0

d2r(d)
Returns degrees-to-radians of d

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

Parameters
d: The angle in degrees
Return Value
The angle in radians
Example command: d2r(90)
• Example Parameters:
– d angle in degrees
∗ Returns 1.57 angle in radians

floor(f )
Returns largest integer not greater than f

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

Parameters
f: floating point value
Return Value
rounded integer
Example command: floor(1.53)
• Example Parameters:
– Returns 1

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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.
Parameters
v: A list variable
Return Value
An integer specifying the length of the given list
Example command: get_list_length([1,3,3,6,2])
• Example Parameters:
– v is the list 1,3,3,6,2
∗ Returns 5

integer_to_binary_list(x)
Returns the binary representation of x

Returns a list of bools as the binary representation of the signed integer

value x.
Parameters
x: The integer value to be converted to a binary list.
Return Value
A list of 32 bools, where False represents a zero and True
represents a one. The bool at index 0 is the least significant
bit.
Example command: integer_to_binary_list(57)
• Example Parameters:
– x integer 57
∗ Returns binary list

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Functions Module urmath

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 alpha

goes from 0 to 1, returns a pose going in a straight line (and geodetic
orientation change) from p_from to p_to. If alpha is less than 0, returns
a point before p_from on the line. If alpha is greater than 1, returns a
pose after p_to on the line.
Parameters
p_from: tool pose (pose)
p_to: tool pose (pose)
alpha: Floating point number
Return Value
interpolated pose (pose)
Example command: interpolate_pose(p[.2,.2,.4,0,0,0],
p[.2,.2,.6,0,0,0], .5)
• Example Parameters:
– p_from = p[.2,.2,.4,0,0,0]
– p_to = p[.2,.2,.6,0,0,0]
– alpha = .5
∗ Returns p[.2,.2,.5,0,0,0]

inv(m)
Get the inverse of a matrix or pose

The matrix must be square and non singular.

Parameters
m: matrix or pose (spatial vector)
Return Value
inverse matrix or pose transformation (spatial vector)
Example command:
• inv([[0,1,0],[0,0,1],[1,0,0]]) → Returns
[[0,0,1],[1,0,0],[0,1,0]]
• inv(p[.2,.5,.1,1.57,0,3.14]) → Returns
p[0.19324,0.41794,-0.29662,1.23993,0.0,2.47985]

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length(v)
Returns the length of a list or string variable

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

composed of.
Parameters
v: A list or string variable
Return Value
Given a list or a string the length is returned as an integer.
Example command:
• length("here I am") → Returns 9
• length([1,2,3,4,5]) → Returns 5

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 a

runtime error is raised.
Parameters
b: floating point value
f: floating point value
Return Value
the logarithm of f to the base of b.
Example command: log(10.,4.)
• Example Parameters:
– b is base 10
– f is log of 4
∗ Returns 0.60206

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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 list
elements must be numbers.
Parameters
a: Pose, float, int or List
Return Value
norm of a
Example command:
• norm(-5.3) → Returns 5.3
• norm(-8) → Returns 8
• norm(p[-.2,.2,-.2,-1.57,0,3.14]) → Returns 3.52768

normalize(v)
Returns the normalized form of a list of floats

Except for the case of all zeroes, the normalized form corresponds to
the unit vector in the direction of v.

Throws an exception if the sum of all squared elements is zero.

Parameters
v: List of floats
Return Value
normalized form of v
Example command:
• normalize([1, 0, 0]) → Returns [1, 0, 0]
• normalize([0, 5, 0]) → Returns [0, 1, 0]
• normalize([0, 1, 1]) → Returns [0, 0.707, 0.707]

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Functions Module urmath

point_dist(p_from, p_to)
Point distance
Parameters
p_from: tool pose (pose)
p_to: tool pose (pose)
Return Value
Distance between the two tool positions (without
considering rotations)
Example command: point_dist(p[.2,.5,.1,1.57,0,3.14],
p[.2,.5,.6,0,1.57,3.14])
• Example Parameters:
– p_from = p[.2,.5,.1,1.57,0,3.14] → The first point
– p_to = p[.2,.5,.6,0,1.57,3.14] → The second point
∗ Returns distance between the points regardless of
rotation

pose_add(p_1, p_2)
Pose addition

Both arguments contain three position parameters (x, y, z) jointly called

P, and three rotation parameters (R_x, R_y, R_z) jointly called R. This
function calculates the result x_3 as the addition of the given poses as
follows:

p_3.P = p_1.P + p_2.P

p_3.R = p_1.R * p_2.R

Parameters
p_1: tool pose 1(pose)
p_2: tool pose 2 (pose)
Return Value
Sum of position parts and product of rotation parts (pose)
Example command: pose_add(p[.2,.5,.1,1.57,0,0],
p[.2,.5,.6,1.57,0,0])
• Example Parameters:
– p_1 = p[.2,.5,.1,1.57,0,0] → The first point
– p_2 = p[.2,.5,.6,1.57,0,0] → The second point
∗ Returns p[0.4,1.0,0.7,3.14,0,0]

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pose_dist(p_from, p_to)
Pose distance
Parameters
p_from: tool pose (pose)
p_to: tool pose (pose)
Return Value
distance
Example command: pose_dist(p[.2,.5,.1,1.57,0,3.14],
p[.2,.5,.6,0,1.57,3.14])
• Example Parameters:
– p_from = p[.2,.5,.1,1.57,0,3.14] → The first point
– p_to = p[.2,.5,.6,0,1.57,3.14] → The second point
∗ Returns distance between two poses including rotation

pose_inv(p_from)
Get the inverse of a pose
Parameters
p_from: tool pose (spatial vector)
Return Value
inverse tool pose transformation (spatial vector)
Example command: pose_inv(p[.2,.5,.1,1.57,0,3.14])
• Example Parameters:
– p_from = p[.2,.5,.1,1.57,0,3.14] → The point
∗ Returns p[0.19324,0.41794,-0.29662,1.23993,0.0,2.47985]

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pose_sub(p_to, p_from)
Pose subtraction
Parameters
p_to: tool pose (spatial vector)
p_from: tool pose (spatial vector)
Return Value
tool pose transformation (spatial vector)
Example command: pose_sub(p[.2,.5,.1,1.57,0,0],
p[.2,.5,.6,1.57,0,0])
• Example Parameters:
– p_1 = p[.2,.5,.1,1.57,0,0] → The first point
– p_2 = p[.2,.5,.6,1.57,0,0] → The second point
∗ Returns p[0.0,0.0,-0.5,0.0,.0.,0.0]

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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 is
the 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 function
transforms, that is translates and rotates, p_from_to by the parameters
of p_from. Or the function is used to get the resulting pose, when first
making 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 look

like:

T_world->to = T_world->from * T_from->to

T_x->to = T_x->from * T_from->to

Parameters
p_from: starting pose (spatial vector)
p_from_to: pose change relative to starting pose (spatial
vector)
Return Value
resulting pose (spatial vector)
Example command: pose_trans(p[.2,.5,.1,1.57,0,0],
p[.2,.5,.6,1.57,0,0])
• Example Parameters:
– p_1 = p[.2,.5,.1,1.57,0,0] → The first point
– p_2 = p[.2,.5,.6,1.57,0,0] → The second point
∗ Returns p[0.4,-0.0996,0.60048,3.14,0.0,0.0]

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pow(base, exponent)
Returns base raised to the power of exponent

Returns the result of raising base to the power of exponent. If base is

negative and exponent is not an integral value, or if base is zero and
exponent is negative, a runtime error is raised.
Parameters
base: floating point value
exponent: floating point value
Return Value
base raised to the power of exponent
Example command: pow(5.,3)
• Example Parameters:
– Base = 5
– Exponent = 3
∗ Returns 125.

r2d(r)
Returns radians-to-degrees of r

Returns the degree value of ’r’ radians.

Parameters
r: The angle in radians
Return Value
The angle in degrees
Example command: r2d(1.57)
• Example Parameters:
– r 1.5707 rad
∗ Returns 90 deg

random()
Random Number
Return Value
pseudo-random number between 0 and 1 (float)

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Functions Module urmath

rotvec2rpy(rotation_vector)
Returns RPY vector corresponding to rotation_vector

Returns the RPY vector corresponding to ’rotation_vector’ where the

rotation vector is the axis of rotation with a length corresponding to the
angle of rotation in radians.
Parameters
rotation_vector: The rotation vector (Vector3d) in
radians, also called the Axis-Angle
vector (unit-axis of rotation multiplied by
the rotation angle in radians).
Return Value
The RPY vector (Vector3d) in radians, describing a
roll-pitch-yaw sequence of extrinsic rotations about the X-Y-Z
axes, (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).
Example command: rotvec2rpy([3.14,1.57,0])
• Example Parameters:
– rotation_vector = [3.14,1.57,0] → rx=3.14, ry=1.57, rz=0
∗ Returns [-2.80856, -0.16202, 0.9] → roll=-2.80856,
pitch=-0.16202, yaw=0.9

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Functions Module urmath

rpy2rotvec(rpy_vector)
Returns rotation vector corresponding to rpy_vector

Returns the rotation vector corresponding to ’rpy_vector’ where the

RPY (roll-pitch-yaw) rotations are extrinsic rotations about the X-Y-Z axes
(corresponding to intrinsic rotations about the Z-Y’-X” axes).
Parameters
rpy_vector: The RPY vector (Vector3d) in radians,
describing a roll-pitch-yaw sequence of
extrinsic rotations about the X-Y-Z axes,
(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).
Return Value
The rotation vector (Vector3d) in radians, also called the
Axis-Angle vector (unit-axis of rotation multiplied by the
rotation angle in radians).
Example command: rpy2rotvec([3.14,1.57,0])
• Example Parameters:
– rpy_vector = [3.14,1.57,0] → roll=3.14, pitch=1.57, yaw=0
∗ Returns [2.22153, 0.00177, -2.21976] → rx=2.22153,
ry=0.00177, rz=-2.21976

sin(f )
Returns the sine of f

Returns the sine of an angle of f radians.

Parameters
f: floating point value
Return Value
the sine of f.
Example command: sin(1.57)
• Example Parameters:
– f is angle of 1.57 rad (90 deg)
∗ Returns 1.0

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Functions Module urmath

size(v)
Returns the size of a matrix variable, the length of a list or string variable
Parameters
v: A matrix, list or string variable
Return Value
Given a list or a string the length is returned as an integer.
Given a matrix the size is returned as a list of two numbers
representing the number of rows and columns, respectively.
Example command:
• size("here I am") → Returns 9
• size([1,2,3,4,5]) → Returns 5
• size([[1,2],[3,4],[5,6]]) → Returns [3,2]

sqrt(f )
Returns the square root of f

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

Parameters
f: floating point value
Return Value
the square root of f.
Example command: sqrt(9)
• Example Parameters:
– f=9
∗ Returns 3

tan(f )
Returns the tangent of f

Returns the tangent of an angle of f radians.

Parameters
f: floating point value
Return Value
the tangent of f.
Example command: tan(.7854)
• Example Parameters:
– f is angle of .7854 rad (45 deg)
∗ Returns 1.0

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Variables Module urmath

transpose(m)
Get the transpose of a matrix
Parameters
m: matrix or an array
Return Value
transposed matrix or array
Example command:
• transpose([[1,2],[3,4],[5,6]]) → Returns [[1,3,5],[2,4,6]]
• transpose([1,2,3]) → Returns [[1],[2],[3]]
• transpose([[1],[2],[3]]) → Returns [1,2,3]

wrench_trans(T_from_to, w_from)
Wrench transformation

Move the point of view of a wrench.

Note: Transforming wrenches is not as trivial as transforming poses as

the torque scales with the length of the translation.

w_to = T_from->to * w_from

Parameters
T_from_to: The transformation to the new point of view
(Pose)
w_from: wrench to transform in list format [F_x, F_y, F_z,
M_x, M_y, M_z]
Return Value
resulting wrench, w_to in list format [F_x, F_y, F_z, M_x, M_y,
M_z]

4.2 Variables

Name Description
__package__ Value: None

82 URScript
Variables Module urmath

83 URScript
 Module interfaces

5 Module interfaces

5.1 Functions

enable_external_ft_sensor(enable, sensor_mass=0.0,
sensor_measuring_offset=[0.0, 0.0, 0.0], sensor_cog=[0.0, 0.0,
0.0])
Deprecated: This function is used for enabling and disabling the use of
external F/T measurements in the controller. Be aware that the
following functions are impacted: force_mode, screw_driving, and
teach_mode.

The RTDE interface shall be used for feeding F/T measurements into the
real-time control loop of the robot using input variable
external_force_torque of type VECTOR6D. If no other RTDE
watchdog has been configured (using script function
rtde_set_watchdog), a default watchdog will be set to a 10Hz
minimum update frequency when the external F/T sensor functionality
is enabled. If the update frequency is not met the robot program will
pause.
Parameters
enable: enable or disable feature
(bool)
sensor_mass: mass of the sensor in
kilograms (float)
sensor_measuring_offset: [x, y, z] measuring offset of the
sensor in meters relative to
the tool flange frame
sensor_cog: [x, y, z] center of gravity of the
sensor in meters relative to
the tool flange frame
Deprecated: When using this function, the sensor position is applied
such that the resulting torques are computed with opposite sign. Also,
this function does not compensate for payload in the calculation of
the wrench. New programs should use ft_rtde_input_enable in
place of this.
Notes:
• The TCP Configuration in the installation must also
include the weight and offset contribution of the sensor.
• Only the enable parameter is required; sensor mass,
offset and center of gravity are optional (zero if
not provided).
Example command: Please refer to ft_rtde_input_enable for some
examples of usage

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Functions Module interfaces

ft_rtde_input_enable(enable, sensor_mass=0.0,
sensor_measuring_offset=[0.0, 0.0, 0.0], sensor_cog=[0.0, 0.0,
0.0])
This function is used for enabling and disabling the use of external F/T
measurements in the controller. Be aware that the following functions
are be impacted: force_mode, screw_driving, and teach_mode.

The RTDE interface shall be used for feeding F/T measurements into the
real-time control loop of the robot using input variable
external_force_torque of type VECTOR6D. If no other RTDE
watchdog has been configured (using script function
rtde_set_watchdog), a default watchdog will be set to a 10Hz
minimum update frequency when the external F/T sensor functionality
is enabled. If the update frequency is not met the robot program will
pause.
Parameters
enable: enable or disable feature
(bool)
sensor_mass: mass of the sensor in
kilograms (float)
sensor_measuring_offset: [x, y, z] measuring offset of the
sensor in meters relative to
the tool flange frame
sensor_cog: [x, y, z] center of gravity of the
sensor in meters relative to
the tool flange frame
Notes:
• This function replaces the deprecated
enable_external_ft_sensor.
• The TCP Configuration in the installation must also
include the weight and offset contribution of the sensor.
• Only the enable parameter is required; sensor mass,
offset and center of gravity are optional (zero if
not provided).
Example command:
• ft_rtde_input_enable(True, 1.0, [0.1, 0.0,
0.0], [0.2, 0.1, 0.5])
– Example Parameters:
∗ enable → Enabling the feed of an external F/T
measurements in the controller.
∗ sensor_mass → mass of F/T sensor is set to 1.0 Kg.
∗ sensor_measuring_offset → sensor measuring
offset is set to [0.1, 0.0, 0.0] m from the tool flange
in tool flange frame coordinates.
∗ sensor_cog → Center of Gravity of the sensor is
85 URScript
set to x=200 mm, y=100 mm, z=500 mm from the
center of the tool flange in tool flange frame
coordinates.
• ft_rtde_input_enable(True, 0.5)
Functions Module interfaces

get_analog_in(n)
Deprecated: Get analog input signal level
Parameters
n: The number (id) of the input, integer: [0:3]
Return Value
float, The signal level in Amperes, or Volts
Deprecated: The get_standard_analog_in and
get_tool_analog_in replace this function. Ports 2-3 should be
changed to 0-1 for the latter function. This function might be removed
in the next major release.
Note: For backwards compatibility n:2-3 go to the tool analog inputs.
Example command: get_analog_in(1)
• Example Parameters:
– n is analog input 1
∗ Returns value of analog output #1

get_analog_out(n)
Deprecated: Get analog output signal level
Parameters
n: The number (id) of the output, integer: [0:1]
Return Value
float, The signal level in Amperes, or Volts
Deprecated: The get_standard_analog_out replaces this function.
This function might be removed in the next major release.
Example command: get_analog_out(1)
• Example Parameters:
– n is analog output 1
∗ Returns value of analog output #1

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Functions Module interfaces

get_configurable_digital_in(n)
Get configurable digital input signal level

See also get_standard_digital_in and get_tool_digital_in.

Parameters
n: The number (id) of the input, integer: [0:7]
Return Value
boolean, The signal level.
Example command: get_configurable_digital_in(1)
• Example Parameters:
– n is configurable digital input 1
∗ Returns True or False

get_configurable_digital_out(n)
Get configurable digital output signal level

See also get_standard_digital_out and get_tool_digital_out.

Parameters
n: The number (id) of the output, integer: [0:7]
Return Value
boolean, The signal level.
Example command: get_configurable_digital_out(1)
• Example Parameters:
– n is configurable digital output 1
∗ Returns True or False

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Functions Module interfaces

get_digital_in(n)
Deprecated: Get digital input signal level
Parameters
n: The number (id) of the input, integer: [0:9]
Return Value
boolean, The signal level.
Deprecated: The get_standard_digital_in and
get_tool_digital_in replace this function. Ports 8-9 should be
changed to 0-1 for the latter function. This function might be removed
in the next major release.
Note: For backwards compatibility n:8-9 go to the tool digital inputs.
Example command: get_digital_in(1)
• Example Parameters:
– n is digital input 1
∗ Returns True or False

get_digital_out(n)
Deprecated: Get digital output signal level
Parameters
n: The number (id) of the output, integer: [0:9]
Return Value
boolean, The signal level.
Deprecated: The get_standard_digital_out and
get_tool_digital_out replace this function. Ports 8-9 should be
changed to 0-1 for the latter function. This function might be removed
in the next major release.
Note: For backwards compatibility n:8-9 go to the tool digital outputs.
Example command: get_digital_out(1)
• Example Parameters:
– n is digital output 1
∗ Returns True or False

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Functions Module interfaces

get_flag(n)
Flags behave like internal digital outputs. They keep information
between program runs.
Parameters
n: The number (id) of the flag, integer: [0:31]
Return Value
Boolean, The stored bit.
Example command: get_flag(1)
• Example Parameters:
– n is flag number 1
∗ Returns True or False

get_standard_analog_in(n)
Get standard analog input signal level

See also get_tool_analog_in.

Parameters
n: The number (id) of the input, integer: [0:1]
Return Value
float, The signal level in Amperes, or Volts
Example command: get_standard_analog_in(1)
• Example Parameters:
– n is standard analog input 1
∗ Returns value of standard analog input #1

get_standard_analog_out(n)
Get standard analog output signal level
Parameters
n: The number (id) of the output, integer: [0:1]
Return Value
float, The signal level in Amperes, or Volts
Example command: get_standard_analog_out(1)
• Example Parameters:
– n is standard analog output 1
∗ Returns value of standard analog output #1

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Functions Module interfaces

get_standard_digital_in(n)
Get standard digital input signal level

See also get_configurable_digital_in and

get_tool_digital_in.
Parameters
n: The number (id) of the input, integer: [0:7]
Return Value
boolean, The signal level.
Example command: get_standard_digital_in(1)
• Example Parameters:
– n is standard digital input 1
∗ Returns True or False

get_standard_digital_out(n)
Get standard digital output signal level

See also get_configurable_digital_out and

get_tool_digital_out.
Parameters
n: The number (id) of the output, integer: [0:7]
Return Value
boolean, The signal level.
Example command: get_standard_digital_out(1)
• Example Parameters:
– n is standard digital output 1
∗ Returns True or False

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Functions Module interfaces

get_tool_analog_in(n)
Get tool analog input signal level

See also get_standard_analog_in.

Parameters
n: The number (id) of the input, integer: [0:1]
Return Value
float, The signal level in Amperes, or Volts
Example command: get_tool_analog_in(1)
• Example Parameters:
– n is tool analog input 1
∗ Returns value of tool analog input #1

get_tool_digital_in(n)
Get tool digital input signal level

See also get_configurable_digital_in and

get_standard_digital_in.
Parameters
n: The number (id) of the input, integer: [0:1]
Return Value
boolean, The signal level.
Example command: get_tool_digital_in(1)
• Example Parameters:
– n is tool digital input 1
∗ Returns True or False

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Functions Module interfaces

get_tool_digital_out(n)
Get tool digital output signal level

See also get_standard_digital_out and

get_configurable_digital_out.
Parameters
n: The number (id) of the output, integer: [0:1]
Return Value
boolean, The signal level.
Example command: get_tool_digital_out(1)
• Example Parameters:
– n is tool digital out 1
∗ Returns True or False

get_tool_digital_output_mode(n)
Get the output mode of tool output pin.
Parameters
n: The number (id) of the output, Integer: [0:1]
Return Value
Integer [1:3], pin output mode. 1 = Sinking/NPN, 2 =
Sourcing/PNP, 3 = Push-Pull
Example command: get_tool_digital_output_mode(1)
• n is tool digital output 1.
– Returns Integer [1:3]

get_tool_output_mode()
Get tool Digital Outputs mode.
Return Value
Integer [0:1]: 0 = Digital Output Mode, 1 = Power(dual pin)
Mode

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Functions Module interfaces

modbus_add_signal(IP, slave_number, signal_address, signal_type,

signal_name, sequential_mode=False)
Adds a new modbus signal for the controller to supervise. Expects no
response.

>>> modbus_add_signal("172.140.17.11", 255, 5, 1, "output1")

Parameters
IP: A string specifying the IP address of the
modbus unit to which the modbus
signal is connected.
slave_number: An integer normally not used and set to
255, but is a free choice between 0 and
255.
signal_address: An integer specifying the address of the
either the coil or the register that this
new signal should reflect. Consult the
configuration of the modbus unit for this
information.
signal_type: An integer specifying the type of signal
to add. 0 = digital input, 1 = digital
output, 2 = register input and 3 =
register output.
signal_name: A string uniquely identifying the signal. If
a string is supplied which is equal to an
already added signal, the new signal
will replace the old one. The length of
the string cannot exceed 20
characters.
sequential_mode: Setting to True forces the modbus client
to wait for a response before sending
the next request. This mode is required
by some fieldbus units (Optional).
Example command: modbus_add_signal("172.140.17.11", 255,
5, 1, "output1")
• Example Parameters:
– IP address = 172.140.17.11
– Slave number = 255
– Signal address = 5
– Signal type = 1 digital output
– Signal name = output 1

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modbus_delete_signal(signal_name)
Deletes the signal identified by the supplied signal name.

>>> modbus_delete_signal("output1")
Parameters
signal_name: A string equal to the name of the signal that
should be deleted.
Example command: modbus_delete_signal("output1")
• Example Parameters:
– Signal name = output1

modbus_get_signal_status(signal_name, is_secondary_program)
Reads the current value of a specific signal.

>>> modbus_get_signal_status("output1",False)
Parameters
signal_name: A string equal to the name of the
signal for which the value should
be gotten.
is_secondary_program: A boolean for internal use only.
Must be set to False.
Return Value
An integer or a boolean. For digital signals: True or False. For
register signals: The register value expressed as an unsigned
integer.
Example command:
modbus_get_signal_status("output1",False)
• Example Parameters:
– Signal name = output 1
– Is_secondary_program = False (Note: must be set to False)

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Functions Module interfaces

modbus_send_custom_command(IP, slave_number, function_code,

data)
Sends a command specified by the user to the modbus unit located
on the specified IP address. Cannot be used to request data, since the
response will not be received. The user is responsible for supplying data
which is meaningful to the supplied function code. The builtin function
takes care of constructing the modbus frame, so the user should not
be 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 BK9050

to 600 ms. That is done using the modbus function code 6 (preset single
register) and then supplying the register address in the first two bytes of
the data array ([17,32] = [0x1120]) and the desired register content in
the last two bytes ([2,88] = [0x0258] = dec 600).
Parameters
IP: A string specifying the IP address locating
the modbus unit to which the custom
command should be send.
slave_number: An integer specifying the slave number to
use for the custom command.
function_code: An integer specifying the function code
for the custom command.
data: An array of integers in which each entry
must be a valid byte (0-255) value.
Example command:
modbus_send_custom_command("172.140.17.11", 103, 6,
[17,32,2,88])
• Example Parameters:
– IP address = 172.140.17.11
– Slave number = 103
– Function code = 6
– Data = [17,32,2,88]
∗ Function code and data are specified by the
manufacturer of the slave Modbus device connected to
the UR controller

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Functions Module interfaces

modbus_set_digital_input_action(signal_name, action)
Sets the selected digital input signal to either a "default" or "freedrive"
action.

>>> modbus_set_digital_input_action("input1", "freedrive")

Parameters
signal_name: A string identifying a digital input signal that
was previously added.
action: The type of action. The action can either be
"default" or "freedrive". (string)
Example command:
modbus_set_digital_input_action("input1", "freedrive")
• Example Parameters:
– Signal name = "input1"
– Action = "freedrive"

modbus_set_output_register(signal_name, register_value,
is_secondary_program)
Sets the output register signal identified by the given name to the given
value.

>>> modbus_set_output_register("output1",300,False)
Parameters
signal_name: A string identifying an output
register signal that in advance
has been added.
register_value: An integer which must be a valid
word (0-65535) value.
is_secondary_program: A boolean for interal use only.
Must be set to False.
Example command: modbus_set_output_register("output1",
300, False)
• Example Parameters:
– Signal name = output1
– Register value = 300
– Is_secondary_program = False (Note: must be set to False)

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modbus_set_output_signal(signal_name, digital_value,
is_secondary_program)
Sets the output digital signal identified by the given name to the given
value.

>>> modbus_set_output_signal("output2",True,False)
Parameters
signal_name: A string identifying an output
digital signal that in advance has
been added.
digital_value: A boolean to which value the
signal will be set.
is_secondary_program: A boolean for interal use only.
Must be set to False.
Example command: modbus_set_output_signal("output1",
True, False)
• Example Parameters:
– Signal name = output1
– Digital value = True
– Is_secondary_program = False (Note: must be set to False)

modbus_set_signal_update_frequency(signal_name,
update_frequency)
Sets the frequency with which the robot will send requests to the
Modbus controller to either read or write the signal value.

>>> modbus_set_signal_update_frequency("output2",20)
Parameters
signal_name: A string identifying an output digital
signal that in advance has been
added.
update_frequency: An integer in the range 0-500
specifying the update frequency in Hz.
Example command:
modbus_set_signal_update_frequency("output2", 20)
• Example Parameters:
– Signal name = output2
– Signal update frequency = 20 Hz

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Functions Module interfaces

read_input_boolean_register(address)
Reads the boolean from one of the input registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:127)
Return Value
The boolean value held by the register (True, False)
Note: The lower range of the boolean input registers [0:63] is reserved
for FieldBus/PLC interface usage. The upper range [64:127] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> bool_val = read_input_boolean_register(3)
Example command: read_input_boolean_register(3)
• Example Parameters:
– Address = input boolean register 3

read_input_float_register(address)
Reads the float from one of the input registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
Return Value
The value held by the register (float)
Note: The lower range of the float input registers [0:23] is reserved for
FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> float_val = read_input_float_register(3)
Example command: read_input_float_register(3)
• Example Parameters:
– Address = input float register 3

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Functions Module interfaces

read_input_integer_register(address)
Reads the integer from one of the input registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
Return Value
The value held by the register [-2,147,483,648 : 2,147,483,647]
Note: The lower range of the integer input registers [0:23] is reserved for
FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> int_val = read_input_integer_register(3)
Example command: read_input_integer_register(3)
• Example Parameters:
– Address = input integer register 3

read_output_boolean_register(address)
Reads the boolean from one of the output registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:127)
Return Value
The boolean value held by the register (True, False)
Note: The lower range of the boolean output registers [0:63] is reserved
for FieldBus/PLC interface usage. The upper range [64:127] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> bool_val = read_output_boolean_register(3)
Example command: read_output_boolean_register(3)
• Example Parameters:
– Address = output boolean register 3

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Functions Module interfaces

read_output_float_register(address)
Reads the float from one of the output registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
Return Value
The value held by the register (float)
Note: The lower range of the float output registers [0:23] is reserved for
FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> float_val = read_output_float_register(3)
Example command: read_output_float_register(3)
• Example Parameters:
– Address = output float register 3

read_output_integer_register(address)
Reads the integer from one of the output registers, which can also be
accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
Return Value
The int value held by the register [-2,147,483,648 :
2,147,483,647]
Note: The lower range of the integer output registers [0:23] is reserved
for FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> int_val = read_output_integer_register(3)
Example command: read_output_integer_register(3)
• Example Parameters:
– Address = output integer register 3

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Functions Module interfaces

read_port_bit(address)
Reads one of the ports, which can also be accessed by Modbus clients

>>> boolval = read_port_bit(3)

Parameters
address: Address of the port (See port map on Support
site, page "Modbus Server" )
Return Value
The value held by the port (True, False)
Example command: read_port_bit(3)
• Example Parameters:
– Address = port bit 3

read_port_register(address)
Reads one of the ports, which can also be accessed by Modbus clients

>>> intval = read_port_register(3)

Parameters
address: Address of the port (See port map on Support
site, page "Modbus Server" )
Return Value
The signed integer value held by the port (-32768 : 32767)
Example command: read_port_register(3)
• Example Parameters:
– Address = port register 3

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Functions Module interfaces

rpc_factory(type, url)
Creates a new Remote Procedure Call (RPC) handle. Please read the
subsection ef{Remote Procedure Call (RPC)} for a more detailed
description of RPCs.

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

Parameters
type: The type of RPC backed to use. Currently only the
"xmlrpc" protocol is available.
url: The URL to the RPC server. Currently two protocols are
supported: pstream and http. The pstream URL looks
like "<ip-address>:<port>", for instance "127.0.0.1:8080"
to make a local connection on port 8080. A http URL
generally looks like
"http://<ip-address>:<port>/<path>", whereby the
<path> depends on the setup of the http server. In
the example given above a connection to a local
Python webserver on port 8080 is made, which
expects XMLRPC calls to come in on the path "RPC2".
Return Value
A RPC handle with a connection to the specified server
using the designated RPC backend. If the server is not
available the function and program will fail. Any function
that is made available on the server can be called using this
instance. For example "bool isTargetAvailable(int number, ...)"
would be "proxy.isTargetAvailable(var_1, ...)", whereby any
number of arguments are supported (denoted by the ...).
Note: Giving the RPC instance a good name makes programs much
more readable (i.e. "proxy" is not a very good name).
Example command: rpc_factory("xmlrpc",
"http://127.0.0.1:8080/RPC2")
• Example Parameters:
– type = xmlrpc
– url = http://127.0.0.1:8080/RPC2

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Functions Module interfaces

rtde_set_watchdog(variable_name, min_frequency, action=’pause’)

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

>>> rtde_set_watchdog("input_int_register_0", 10, "stop")

Parameters
variable_name: Input variable name (string), as specified
by the RTDE interface
min_frequency: The minimum frequency (float) an input
update is expected to arrive.
action: Optional: Either "ignore", "pause" or "stop"
the program on a violation of the
minimum frequency. The default action is
"pause".
Return Value
None
Note: Only one watchdog is necessary per RTDE input package to
guarantee the specified action on missing updates.
Example command: rtde set watchdog( "input int register
0" , 10, "stop" )
• Example Parameters:
– variable name = input int register 0
– min frequency = 10 hz
– action = stop the program

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Functions Module interfaces

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.

Parameters
port: analog input port number, 0,1 = controller, 2,3 = tool
range: Controller analog input range 0: 0-5V (maps
automatically onto range 2) and range 2: 0-10V.
range: Tool analog input range 0: 0-5V (maps
automatically onto range 1), 1: 0-10V and 2:
4-20mA.
Deprecated: The set_standard_analog_input_domain and
set_tool_analog_input_domain replace this function. Ports 2-3
should be changed to 0-1 for the latter function. This function might be
removed in the next major release.
Note: For Controller inputs ranges 1: -5-5V and 3: -10-10V are no longer
supported and will show an exception in the GUI.

set_analog_out(n, f )
Deprecated: Set analog output signal level
Parameters
n: The number (id) of the output, integer: [0:1]
f: The relative signal level [0;1] (float)
Deprecated: The set_standard_analog_out replaces this function.
This function might be removed in the next major release.
Example command: set_analog_out(1,0.5)
• Example Parameters:
– n is analog output port 1 (on controller)
– f = 0.5, that corresponds to 5V (or 12mA depending on
domain setting) on the output port

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Functions Module interfaces

set_configurable_digital_out(n, b)
Set configurable digital output signal level

See also set_standard_digital_out and set_tool_digital_out.

Parameters
n: The number (id) of the output, integer: [0:7]
b: The signal level. (boolean)
Example command: set_configurable_digital_out(1,True)
• Example Parameters:
– n is configurable digital output 1
– b = True

set_digital_out(n, b)
Deprecated: Set digital output signal level
Parameters
n: The number (id) of the output, integer: [0:9]
b: The signal level. (boolean)
Deprecated: The set_standard_digital_out and
set_tool_digital_out replace this function. Ports 8-9 should be
changed to 0-1 for the latter function. This function might be removed
in the next major release.
Example command: set_digital_out(1,True)
• Example Parameters:
– n is digital output 1
– b = True

set_flag(n, b)
Flags behave like internal digital outputs. They keep information
between program runs.
Parameters
n: The number (id) of the flag, integer: [0:31]
b: The stored bit. (boolean)
Example command: set_flag(1,True)
• Example Parameters:
– n is flag number 1
– b = True will set the bit to True

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Functions Module interfaces

set_standard_analog_out(n, f )
Set standard analog output signal level
Parameters
n: The number (id) of the output, integer: [0:1]
f: The relative signal level [0;1] (float)
Example command: set_standard_analog_out(1,1.0)
• Example Parameters:
– n is standard analog output port 1
– f = 1.0, that corresponds to 10V (or 20mA depending on
domain setting) on the output port

set_standard_digital_out(n, b)
Set standard digital output signal level

See also set_configurable_digital_out and

set_tool_digital_out.
Parameters
n: The number (id) of the output, integer: [0:7]
b: The signal level. (boolean)
Example command: set_standard_digital_out(1,True)
• Example Parameters:
– n is standard digital output 1
– f = True

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Functions Module interfaces

set_tool_communication(enabled, baud_rate, parity, stop_bits,

rx_idle_chars, tx_idle_chars)
This function will activate or deactivate the ’Tool Communication
Interface’ (TCI). The TCI will enable communication with a external tool
via the robots analog inputs hereby avoiding external wiring.

>>> set_tool_communication(True, 115200, 1, 2, 1.0, 3.5)

Parameters
enabled: Boolean to enable or disable the TCI
(string). Valid values: True (enable), False
(disable)
baud_rate: The used baud rate (int). Valid values:
9600, 19200, 38400, 57600, 115200,
1000000, 2000000, 5000000.
parity: The used parity (int). Valid values: 0
(none), 1 (odd), 2 (even).
stop_bits: The number of stop bits (int). Valid values:
1, 2.
rx_idle_chars: Amount of chars the RX unit in the tool
should wait before marking a message as
over / sending it to the PC (float). Valid
values: min=1.0 max=40.0.
tx_idle_chars: Amount of chars the TX unit in the tool
should wait before starting a new
transmission since last activity on bus
(float). Valid values: min=0.0 max=40.0.
Return Value
None
Note: Enabling this feature will disable the robot tool analog inputs.
Example command: set_tool_communication(True, 115200, 1,
2, 1.0, 3.5)
• Example Parameters:
– enabled = True
– baud rate = 115200
– parity = ODD
– stop bits = 2
– rx idle time = 1.0
– tx idle time = 3.5

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Functions Module interfaces

set_tool_digital_out(n, b)
Set tool digital output signal level

See also set_configurable_digital_out and

set_standard_digital_out.

For description of operating modes when activated, see Tool Digital

Outputs section in the manual.
Parameters
n: The number (id) of the output, integer: [0:1]
b: The signal activation. (boolean)
Example command: set_tool_digital_out(1,True)
• Example Parameters:
– n is tool digital output 1
– b = True

set_tool_digital_output_mode(n, mode)
Set output mode of tool output pin
Parameters
n: The number (id) of the output, integer: [0:1]
mode: The pin mode. Integer: [1:3]. 1 = Sinking/NPN, 2 =
Sourcing / PNP, 3 = Push-Pull.
Example command: set_tool_digital_output_mode(0, 2)
• Example Parameters:
– 0 is digital output pin 0.
– 2 is pin mode sourcing/PNP. The pin will source current when
set to 1 and be high impedance when set to 0.

set_tool_output_mode(mode)
Set tool Digital Outputs mode
Parameters
mode: The output mode to set, integer: [0:1]. 0 = Digital
Output mode, 1 = Power(dual pin) mode
Example command: set_tool_output_mode(1)
• Example Parameters:
– 1 is power(dual pin) mode. The digital outputs will be used as
extra supply.

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Functions Module interfaces

set_tool_voltage(voltage)
Sets the voltage level for the power supply that delivers power to the
connector plug in the tool flange of the robot. The votage can be 0, 12
or 24 volts.
Parameters
voltage: The voltage (as an integer) at the tool connector,
integer: 0, 12 or 24.
Example command: set_tool_voltage(24)
• Example Parameters:
– voltage = 24 volts

socket_close(socket_name=’socket_0’)
Closes TCP/IP socket communication

Closes down the socket connection to the server.

>>> socket_comm_close()
Parameters
socket_name: Name of socket (string)
Example command: socket_close(socket_name="socket_0")
• Example Parameters:
– socket_name = socket_0

socket_get_var(name, socket_name=’socket_0’)
Reads an integer from the server

Sends the message "GET <name>\n" through the socket, expects the
response "<name> <int>\n" within 2 seconds. Returns 0 after timeout
Parameters
name: Variable name (string)
socket_name: Name of socket (string)
Return Value
an integer from the server (int), 0 is the timeout value
Example command: x_pos = socket_get_var("POS_X")
Sends: GET POS_X\n to socket_0, and expects response within 2s
• Example Parameters:
– name = POS_X → name of variable
– socket_name = default: socket_0

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Functions Module interfaces

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.

Parameters
address: Server address (string)
port: Port number (int)
socket_name: Name of socket (string)
Return Value
False if failed, True if connection succesfully established
Note: The used network setup influences the performance of
client/server communication. For instance, TCP/IP communication is
buffered by the underlying network interfaces.
Example command: socket_open("192.168.5.1", 50000,
"socket_10")
• Example Parameters:
– address = 192.168.5.1
– port = 50000
– socket_name = socket_10

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Functions Module interfaces

socket_read_ascii_float(number, socket_name=’socket_0’,
timeout=2)
Reads a number of ascii formatted floats from the socket. A maximum
of 30 values can be read in one command.

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 each
number in succession. For example a read_ascii_float on the example
above would return [4, 1.414, 3.14159, 1.616, 0.0].

A failed read or timeout will return the list with 0 as first element and
then "Not a number (nan)" in the following elements (ex. [0, nan, nan,
nan] for a read of three numbers).
Parameters
number: The number of variables to read (int)
socket_name: Name of socket (string)
timeout: The number of seconds until the read action
times out (float). A timeout of 0 or negative
number indicates that the function should
not return until a read is completed.
Return Value
A list of numbers read (list of floats, length=number+1)
Example command: list_of_four_floats =
socket_read_ascii_float(4,"socket_10")
• Example Parameters:
– number = 4 → Number of floats to read
– socket_name = socket_10
∗ returns list

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Functions Module interfaces

socket_read_binary_integer(number, socket_name=’socket_0’,
timeout=2)
Reads a number of 32 bit integers from the socket. Bytes are in network
byte order. A maximum of 30 values can be read in one command.

Returns (for example) [3,100,2000,30000], if there is a timeout or the

reply is invalid, [0,-1,-1,-1] is returned, indicating that 0 integers have
been read
Parameters
number: The number of variables to read (int)
socket_name: Name of socket (string)
timeout: The number of seconds until the read action
times out (float). A timeout of 0 or negative
number indicates that the function should
not return until a read is completed.
Return Value
A list of numbers read (list of ints, length=number+1)
Example command: list_of_ints =
socket_read_binary_integer(4,"socket_10")
• Example Parameters:
– number = 4 → Number of integers to read
– socket_name = socket_10

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socket_read_byte_list(number, socket_name=’socket_0’, timeout=2)

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

Returns (for example) [3,100,200,44], if there is a timeout or the reply is

invalid, [0,-1,-1,-1] is returned, indicating that 0 bytes have been read
Parameters
number: The number of bytes to read (int)
socket_name: Name of socket (string)
timeout: The number of seconds until the read action
times out (float). A timeout of 0 or negative
number indicates that the function should
not return until a read is completed.
Return Value
A list of numbers read (list of ints, length=number+1)
Example command: list_of_bytes =
socket_read_byte_list(4,"socket_10")
• Example Parameters:
– number = 4 → Number of byte variables to read
– socket_name = socket_10

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socket_read_line(socket_name=’socket_0’, timeout=2)
Deprecated: Reads the socket buffer until the first "\r\n" (carriage
return and newline) characters or just the "\n" (newline) character, and
returns the data as a string. The returned string will not contain the "\n"
nor the "\r\n" characters.

Returns (for example) "reply from the server:", if there is a timeout or the
reply is invalid, an empty line is returned (""). You can test if the line is
empty with an if-statement.

>>> if(line_from_server) :
>>> popup("the line is not empty")
>>> end
Parameters
socket_name: Name of socket (string)
timeout: The number of seconds until the read action
times out (float). A timeout of 0 or negative
number indicates that the function should
not return until a read is completed.
Return Value
One line string
Deprecated: The socket_read_string replaces this function. Set flag
"interpret_escape" to "True" to enable the use of escape sequences
"\n" "\r" and "\t" as a prefix or suffix.
Example command: line_from_server =
socket_read_line("socket_10")
• Example Parameters:
– socket_name = socket_10

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socket_read_string(socket_name=’socket_0’, prefix=’’, suffix=’’,

interpret_escape=’False’, timeout=2)
Reads all data from the socket and returns the data as a string.

Returns (for example) "reply from the server:\n Hello World". if there is a
timeout 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 express

what is extracted from the socket. The "prefix" specifies the start of the
substring (message) extracted from the socket. The data up to the end
of 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.

By using the "prefix" and "suffix" it is also possible send multiple string to
the controller at once, because the suffix defines where the message
ends. E.g. sending ">hello<>world<" and calling this script function with
the prefix=">" and suffix="<".

Note that leading spaces in the prefix and suffix strings are ignored in
the current software and may cause communication errors in future
releases.

The optional parameter "interpret_escape" can be used to allow the

use of escape sequences "\n", "\t" and "\r" as part of the prefix or suffix.
Parameters
socket_name: Name of socket (string)
prefix: Defines a prefix (string)
suffix: Defines a suffix (string)
interpret_escape: Enables the interpretation of escape
sequences (bool)
timeout: The number of seconds until the read
action times out (float). A timeout of 0
or negative number indicates that the
function should not return until a read
is completed.
Return Value
String
Example command: string_from_server =
socket_read_string("socket_10",prefix=">",suffix="<")

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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. Can
be used to send special ASCII characters: 10 is newline, 2 is start of text,
3 is end of text.
Parameters
value: The number to send (byte)
socket_name: Name of socket (string)
Return Value
a boolean value indicating whether the send operation was
successful
Example command: socket_send_byte(2,"socket_10")
• Example Parameters:
– value = 2
– socket_name = socket_10
∗ Returns True or False (sent or not sent)

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.
Parameters
value: The number to send (int)
socket_name: Name of socket (string)
Return Value
a boolean value indicating whether the send operation was
successful
Example command: socket_send_int(2,"socket_10")
• Example Parameters:
– value = 2
– socket_name = socket_10
∗ Returns True or False (sent or not sent)

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socket_send_line(str, socket_name=’socket_0’)
Sends a string with a newline character to the server - useful for
communicating with the UR dashboard server

Sends the string <str> through the socket in ASCII coding. Expects no
response.
Parameters
str: The string to send (ascii)
socket_name: Name of socket (string)
Return Value
a boolean value indicating whether the send operation was
successful
Example command: socket_send_line("hello","socket_10")
Sends: hello\n to socket_10
• Example Parameters:
– str = hello
– socket_name = socket_10
∗ Returns True or False (sent or not sent)

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 no
response.
Parameters
str: The string to send (ascii)
socket_name: Name of socket (string)
Return Value
a boolean value indicating whether the send operation was
successful
Example command: socket_send_string("hello","socket_10")
Sends: hello to socket_10
• Example Parameters:
– str = hello
– socket_name = socket_10
∗ Returns True or False (sent or not sent)

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socket_set_var(name, value, socket_name=’socket_0’)

Sends an integer to the server

Sends the message "SET <name> <value>\n" through the socket.

Expects no response.
Parameters
name: Variable name (string)
value: The number to send (int)
socket_name: Name of socket (string)
Example command: socket_set_var("POS_Y",2200,"socket_10")
Sends string: SET POS_Y 2200\n to socket_10
• Example Parameters:
– name = POS_Y → name of variable
– value = 2200
– socket_name = socket_10

write_output_boolean_register(address, value)
Writes the boolean value into one of the output registers, which can
also be accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:127)
value: Value to set in the register (True, False)
Note: The lower range of the boolean output registers [0:63] is reserved
for FieldBus/PLC interface usage. The upper range [64:127] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> write_output_boolean_register(3, True)
Example command: write_output_boolean_register(3,True)
• Example Parameters:
– address = 3
– value = True

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write_output_float_register(address, value)
Writes the float value into one of the output registers, which can also
be accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
value: Value to set in the register (float)
Note: The lower part of the float output registers [0:23] is reserved for
FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> write_output_float_register(3, 37.68)
Example command: write_output_float_register(3,37.68)
• Example Parameters:
– address = 3
– value = 37.68

write_output_integer_register(address, value)
Writes the integer value into one of the output registers, which can also
be accessed by a Field bus. Note, uses it’s own memory space.
Parameters
address: Address of the register (0:47)
value: Value to set in the register [-2,147,483,648 :
2,147,483,647]
Note: The lower range of the integer output registers [0:23] is reserved
for FieldBus/PLC interface usage. The upper range [24:47] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
>>> write_output_integer_register(3, 12)
Example command: write_output_integer_register(3,12)
• Example Parameters:
– address = 3
– value = 12

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write_port_bit(address, value)
Writes one of the ports, which can also be accessed by Modbus clients

>>> write_port_bit(3,True)
Parameters
address: Address of the port (See port map on Support
site, page "Modbus Server" )
value: Value to be set in the register (True, False)
Example command: write_port_bit(3,True)
• Example Parameters:
– Address = 3
– Value = True

write_port_register(address, value)
Writes one of the ports, which can also be accessed by Modbus clients

>>> write_port_register(3,100)
Parameters
address: Address of the port (See port map on Support
site, page "Modbus Server" )
value: Value to be set in the port (0 : 65536) or (-32768 :
32767)
Example command: write_port_register(3,100)
• Example Parameters:
– Address = 3
– Value = 100

zero_ftsensor()
Zeroes the TCP force/torque measurement from the builtin force/torque
sensor by subtracting the current measurement from the subsequent.
Note: Function only applicable in G5

5.2 Variables

Name Description
__package__ Value: None

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6 Module ioconfiguration

6.1 Functions

modbus_set_runstate_dependent_choice(signal_name,
runstate_choice)
Sets the output signal levels depending on the state of the program.
Parameters
signal_name: A string identifying a digital or register output
signal that in advance has been added.
state: 0: Preserve signal state,
1: Set signal Low when program is not
running,
2: Set signal High when program is not
running,
3: Set signal High when program is running
and low when it is stopped,
4: Set signal Low when program terminates
unscheduled,
5: Set signal High from the moment a
program is started and Low when a program
terminates unscheduled.
Note: An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception occurs.
Example command:
modbus_set_runstate_dependent_choice("output2", 3)
• Example Parameters:
– Signal name = output2
– Runstate dependent choice = 3 → set Low when a program
is stopped and High when a program is running

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set_analog_outputdomain(port, domain)
Set domain of analog outputs
Parameters
port: analog output port number
domain: analog output domain: 0: 4-20mA, 1: 0-10V
Example command: set_analog_outputdomain(1,1)
• Example Parameters:
– port is analog output port 1 (on controller)
– domain = 1 (0-10 volts)

set_configurable_digital_input_action(port, action)
Using this method sets the selected configurable digital input register to
either a "default" or "freedrive" action.

See also:

• set_input_actions_to_default
• set_standard_digital_input_action
• set_tool_digital_input_action
• set_gp_boolean_input_action
Parameters
port: The configurable digital input port number.
(integer)
action: The type of action. The action can either be
"default" or "freedrive". (string)
Example command: set_configurable_digital_input_action(0,
"freedrive")
• Example Parameters:
– n is the configurable digital input register 0
– f is set to "freedrive" action

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set_gp_boolean_input_action(port, action)
Using this method sets the selected gp boolean input register to either
a "default" or "freedrive" action.
Parameters
port: The gp boolean input port number. integer: [0:127]
action: The type of action. The action can either be
"default" or "freedrive". (string)
Note: The lower range of the boolean input registers [0:63] is reserved
for FieldBus/PLC interface usage. The upper range [64:127] cannot be
accessed by FieldBus/PLC interfaces, since it is reserved for external
RTDE clients.
See also:
• set_input_actions_to_default
• set_standard_digital_input_action
• set_configurable_digital_input_action
• set_tool_digital_input_action
Example command: set_gp_boolean_input_action(64,
"freedrive")
• Example Parameters:
– n is the gp boolean input register 0
– f is set to "freedrive" action

set_input_actions_to_default()
Using this method sets the input actions of all standard, configurable,
tool, and gp_boolean input registers to "default" action.

See also:

• set_standard_digital_input_action
• set_configurable_digital_input_action
• set_tool_digital_input_action
• set_gp_boolean_input_action
Example command: set_input_actions_to_default()

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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.

Example: Set configurable digital output 5 to Low when program is

terminated unscheduled.

>>> set_runstate_configurable_digital_output_to_value(5, 2)
Parameters
outputId: The output signal number (id), integer: [0:7]
state: 0: Preserve signal state,
1: Set signal Low when program is not running,
2: Set signal High when program is not running,
3: Set signal High when program is running and
low when it is stopped,
4: Set signal Low when program terminates
unscheduled,
5: Set signal High from the moment a program is
started and Low when a program terminates
unscheduled.
Note: An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception occurs.
Example command:
set_runstate_configurable_digital_output_to_value(5, 2)
• Example Parameters:
– outputid = configurable digital output on port 5
– Runstate choice = 4 → configurable digital output on port 5
goes low when a program is terminated unscheduled.

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set_runstate_gp_boolean_output_to_value(outputId, state)
Sets the output value depending on the state of the program.
Parameters
outputId: The output signal number (id), integer: [0:127]
state: 0: Preserve signal state,
1: Set signal to False when program is not
running,
2: Set signal to True when program is not running,
3: Set signal to True when program is running
and False when it is stopped,
4: Set signal to False when program terminates
unscheduled,
5: Set signal to True from the moment a program
is started and False when a program terminates
unscheduled.
Notes:
• The lower range of the boolean output registers [0:63] is
reserved for FieldBus/PLC interface usage. The upper
range [64:127] cannot be accessed by FieldBus/PLC
interfaces, since it is reserved for external RTDE clients.
• An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception
occurs.
Example command:
set_runstate_gp_boolean_output_to_value(64, 2)
• Example Parameters:
– outputid = output on port 64
– Runstate choice = 2 → sets signal on port 64 to True when
program is not running

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set_runstate_gp_float_output_to_value(outputId, state)
Sets the output value depending on the state of the program.
Parameters
outputId: The output signal number (id), integer: [0:47]
state: 0 = Preserve signal state,
1 = Set signal to 0.0 when program is not running,
2 = Set signal to 1.0 when program is not running,
3 = Set signal to 1.0 when program is running
and 0.0 when it is stopped.
4: Set signal to 0.0 when program terminates
unscheduled,
5: Set signal to 1.0 from the moment a program
is started and 0.0 when a program terminates
unscheduled.
Notes:
• The lower range of the float output registers [0:23] is
reserved for FieldBus/PLC interface usage. The upper
range [24:47] cannot be accessed by FieldBus/PLC
interfaces, since it is reserved for external RTDE clients.
• An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception
occurs.
Example command:
set_runstate_gp_boolean_output_to_value(24, 2)
• Example Parameters:
– outputid = output on port 24
– Runstate choice = 1 → sets signal on port 24 to 0.0 when
program is not running

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set_runstate_gp_integer_output_to_value(outputId, state)
Sets the output value depending on the state of the program.
Parameters
outputId: The output signal number (id), integer: [0:47]
state: 0: Preserve signal state,
1: Set signal to 0 when program is not running,
2: Set signal to 1 when program is not running,
3: Set signal to 1 when program is running and 1
when it is stopped,
4: Set signal to 0 when program terminates
unscheduled,
5: Set signal to 1 from the moment a program is
started and 0 when a program terminates
unscheduled.
Notes:
• The lower range of the integer output registers [0:23] is
reserved for FieldBus/PLC interface usage. The upper
range [24:47] cannot be accessed by FieldBus/PLC
interfaces, since it is reserved for external RTDE clients.
• An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception
occurs.
Example command:
set_runstate_gp_boolean_output_to_value(24, 2)
• Example Parameters:
– outputid = output on port 24
– Runstate choice = 2 → sets signal on port 24 to 1 when
program is not running

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set_runstate_standard_analog_output_to_value(outputId, state)
Sets the output signal levels depending on the state of the program.

Example: Set standard analog output 1 to high when program is not

running.

>>> set_runstate_standard_analog_output_to_value(1, 2)
Parameters
outputId: The output signal number (id), integer: [0:1]
state: 0: Preserve signal state,
1: Set signal Low when program is not running,
2: Set signal High when program is not running,
3: Set signal High when program is running and
low when it is stopped,
4: Set signal Low when program terminates
unscheduled,
5: Set signal High from the moment a program is
started and Low when a program terminates
unscheduled.
Note: An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception occurs.
Example command:
set_runstate_standard_analog_output_to_value(1, 2)
• Example Parameters:
– outputid = standard analog output on port 1
– Runstate choice = 2 → analog output on port 1 goes High
when program is not running

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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.

Example: Set standard digital output 5 to high when program is not

running.

>>> set_runstate_standard_digital_output_to_value(5, 2)
Parameters
outputId: The output signal number (id), integer: [0:7]
state: 0: Preserve signal state,
1: Set signal Low when program is not running,
2: Set signal High when program is not running,
3: Set signal High when program is running and
low when it is stopped,
4: Set signal Low when program terminates
unscheduled,
5: Set signal High from the moment a program is
started and Low when a program terminates
unscheduled.
Note: An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception occurs.
Example command:
set_runstate_standard_digital_output_to_value(5, 2)
• Example Parameters:
– outputid = standard digital output on port 1
– Runstate choice = 2 → sets digital output on port 1 to High
when program is not running

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set_runstate_tool_digital_output_to_value(outputId, state)
Sets the output signal level depending on the state of the program.

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

>>> set_runstate_tool_digital_output_to_value(1, 2)
Parameters
outputId: The output signal number (id), integer: [0:1]
state: 0: Preserve signal state,
1: Set signal Low when program is not running,
2: Set signal High when program is not running,
3: Set signal High when program is running and
low when it is stopped,
4: Set signal Low when program terminates
unscheduled,
5: Set signal High from the moment a program is
started and Low when a program terminates
unscheduled.
Note: An unscheduled program termination is caused when a
Protective stop, Fault, Violation or Runtime exception occurs.
Example command:
set_runstate_tool_digital_output_to_value(1, 2)
• Example Parameters:
– outputid = tool digital output on port 1
– Runstate choice = 2 → digital output on port 1 goes High
when program is not running

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.

Parameters
port: analog input port number: 0 or 1
domain: analog input domains: 0: 4-20mA, 1: 0-10V
Example command: set_standard_analog_input_domain(1,0)
• Example Parameters:
– port = analog input port 1
– domain = 0 (4-20 mA)

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set_standard_digital_input_action(port, action)
Using this method sets the selected standard digital input register to
either a "default" or "freedrive" action.

See also:

• set_input_actions_to_default
• set_configurable_digital_input_action
• set_tool_digital_input_action
• set_gp_boolean_input_action
Parameters
port: The standard digital input port number. (integer)
action: The type of action. The action can either be
"default" or "freedrive". (string)
Example command: set_standard_digital_input_action(0,
"freedrive")
• Example Parameters:
– n is the standard digital input register 0
– f is set to "freedrive" action

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.
Parameters
port: analog input port number: 0 or 1
domain: analog input domains: 0: 4-20mA, 1: 0-10V
Example command: set_tool_analog_input_domain(1,1)
• Example Parameters:
– port = tool analog input 1
– domain = 1 (0-10 volts)

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set_tool_digital_input_action(port, action)
Using this method sets the selected tool digital input register to either a
"default" or "freedrive" action.

See also:

• set_input_actions_to_default
• set_standard_digital_input_action
• set_configurable_digital_input_action
• set_gp_boolean_input_action
Parameters
port: The tool digital input port number. (integer)
action: The type of action. The action can either be
"default" or "freedrive". (string)
Example command: set_tool_digital_input_action(0,
"freedrive")
• Example Parameters:
– n is the tool digital input register 0
– f is set to "freedrive" action

6.2 Variables

Name Description
__package__ Value: None

7 Module processpath

This module contains Remote TCP and toolpath APIs.

NOTE:

1. These script functions are only accessible if the program is being run from within
Polyscope.
2. The Remote TCP & Toolpath URCap Controller must run in order for the script func-
tions to work. Go to Installation > URCaps > Remote TCP & Toolpath URCap to
start the controller from the URCap home page.
3. The script functions are available in the Functions dropdown within the Script
node (Program > Advanced > Script). Note: mc_add_circular() requires six
arguments, but only five arguments are displayed in the Functions dropdown.
Please make sure to specify the sixth argument ‘mode’ when using this function.

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Functions Module processpath

7.1 Functions

mc_add_circular(pose_via, pose_to, a, v, r, mode=0)

Add a motion to move to pose (circular in tool-space).

This command queues a motion that interpolates circular movement of

the regular TCP (if called after mc_initialize with mode = 0) or the
remote TCP (if called after mc_initialize with mode = 1) to a pose in
the Part Coordinate System (PCS).
Parameters
pose_via: path point (note: only position is used) in the PCS
pose_to: target pose (note: only position is used in Fixed
orientation mode) in the PCS
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius (of target pose) [m]
mode: 0: Unconstrained mode. Interpolate orientation
from current pose to target pose (pose_to)
1: Fixed mode. Keep orientation constant
relative to the tangent of the circular arc
(starting from current pose)
Return Value
The motion ID
Example command: id = mc_add_circular(p[x, y, z, 0, 0,
0], pose_to, a=1.2, v=0.25, r=0.05, mode=1)
• Example Parameters:
– Note: first position on circle is previous waypoint.
– pose_via = p[x, y, z, 0, 0, 0] → second position on circle.
∗ Note: rotations are not used so they can be left as zeros.
– pose_to → third (and final) position on circle
– a = 1.2 → acceleration is 1.2 m/s^2
– v = 0.25 → velocity is 250 mm/s
– r = 0 → blend radius (at pose_to) is 50 mm
– mode = 1 → use fixed orientation relative to tangent of
circular arc

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mc_add_linear(pose, a, v, r)
Add a motion to move to pose (linear in tool-space).

This command queues a motion that interpolates linear movement of

the regular TCP (if called after mc_initialize with mode = 0) or the
remote TCP (if called after mc_initialize with mode = 1) to a pose in
the Part Coordinate System (PCS).
Parameters
pose: target pose in the PCS
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius [m]
Return Value
The motion ID
Example command: id = mc_add_linear(pose, a=1.2, v=0.25,
r=0)
• Example Parameters:
– pose = p[0.2, 0.3, 0.5, 0, 0, 3.14] → position in PCS is x =
200mm, y = 300mm, z = 500mm, rx = 0, ry = 0, rz = 180deg.
– a = 1.2 → acceleration is 1.2 m/s^2
– v = 0.25 → velocity is 250 mm/s
– r = 0 → the blend radius is 0 meters

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Functions Module processpath

mc_add_path(path_id, a, v, r)
Add a motion to move according to the g-codes specified in the
nc_file.
Parameters
path_id: path ID returned from the mc_load_path call
a: tool acceleration [m/s^2]
v: tool speed [m/s]
r: blend radius [m]
Return Value
The motion ID
Example command: id = mc_add_path(path_id=1, a=1.2,
v=0.25, r=0)
• Example Parameters:
– path_id = 1 → path_id from the mc_load_path call
– a = 1.2 → acceleration is 1.2 m/s^2
– v = 0.25 → velocity is 250 mm/s. This value is ignored if
useFeedRate=True when calling mc_load_path
– r = 0 → the blend radius is 0 meters

mc_get_target_rtcp_speed()
This command returns the target linear speed of a Remote TCP. To get
the target linear speed of a regular TCP, please use
get_target_tcp_speed_along_path().
Return Value
Remote TCP speed in m/s. This is a scalar without any
indication of travel direction.
Example command: rtcpSpeed = mc_get_target_rtcp_speed()

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Functions Module processpath

mc_initialize(mode, tcp, doc=6)

Initialize a new motion sequence.

This command must be called before every TCP motion sequence. The
command resets the speed factor to 1 (see also
mc_set_speed_factor), the Part Coordinate System to identity (see
also mc_set_pcs), and the motion ID counter to 0. The command
automatically turns on path divergence check if not in simulation
mode.
Parameters
mode: 0: Initialize regular TCP motion.
1: Initialize remote TCP motion.
tcp: If mode = 0, the regular TCP offset, i.e. the
transformation from the output flange coordinate
system to the TCP as a pose.
If mode = 1, the remote TCP offset, i.e. the
transformation from the robot base to the remote TCP
as a pose.
doc: degree of constraints
6: Constrain all 6-Degree of Freedom (DOF) of the
tool.
5: Constrain 5-DOF of the tool. The rotation about
z-axis is not constrained.
Example command: mc_initialize(1, p[0, 0.2, 0.3, 0, 3.14,
0], doc=6)
• Example Parameters:
– mode = 1 → remote TCP motion
– tcp = p[0, 0.2, 0.3, 0, 3.14, 0] → tool center point is set to x =
0mm, y = 200mm, z = 300mm, rotation vector is rx = 0deg, ry =
180deg, rz = 0deg, in robot base coordinates.
– doc = 6 → constrain 6-DOF

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Functions Module processpath

mc_load_path(nc_file, useFeedRate)
Load a .nc toolpath file. This function returns a path id which is to be
used with the subsequent mc_add_path call. This function has to be
called for the same nc_file if it is to be executed with different speed
and acceleration values.
Parameters
nc_file: the .nc file on the disk
useFeedRate: specify whether to use feedrate mentioned
in the NC file
Return Value
The path ID
Example command: path_id =
mc_load_path("/programs/path.nc", useFeedRate=True)
• Example Parameters:
– nc_file = /programs/path.nc → the file that contains GCode
is /programs/path.nc
– useFeedRate = True → use the feedrate from .nc file

mc_run_motion(id=-1)
Run through the motion with ID id.

This command starts to move the robot (if not already started) then
waits for the motion with ID = id to finish. A motion with ID = x will only
be executed if mc_run_motion is called on id >= x or -1. This command
is used to run all queued motions (if id = -1) or when users would like to
call some instantaneous script (such as set_standard_digital_out) after
a particular motion. Do not call commands that take time to finish
(such as movep). Doing so will likely cause path divergence error.
Parameters
id: the motion ID. If id = -1, the command will run all
motions queued. If id = x, where x >= 0, the command
will run all motions with ID <= x.
Example command: mc_run_motion(id=2)
• Example Parameters:
– id = 2 → run motion with ID = 0, 1 and 2 to finish.

137 URScript
Examples Module processpath

mc_set_pcs(pcs)
Set the Part Coordinate System (PCS).

This command sets the PCS either in robot base coordinates (if called
after mc_initialize with mode = 0) or in tool flange coordinates (if
called after mc_initialize with mode = 1). Subsequent poses/paths
of motions will be relative to this PCS.
Parameters
pcs: The part coordinate system as a pose.
Example command: mc_set_pcs(p[0, 0.2, 0.3, 0, 3.14, 0])
• Example Parameters:
– pcs = p[0, 0.2, 0.3, 0, 3.14, 0] → part coordinate system is set
to x = 0mm, y = 200mm, z = 300mm, rotation vector is rx =
0deg, ry = 180deg, rz = 0deg.

mc_set_speed_factor(s)
Set speed factor in range [0, 1]. The tool speed will be v × s, where v is
the commanded tool speed in each motion.

This command only affect motions in this module (such as

mc_add_linear). The command can be used on a separate thread
during motion to dynamically change tool speed.
Example command: mc_set_speed_factor(s=0.1)
• Example Parameters:
– s = 0.1 → speed factor is 0.1

7.2 Variables

Name Description
__package__ Value: ’ProcessPath’

7.3 Examples

Examples on using the Remote TCP and Toolpath Application.

7.3.1 Example 1 - Executing a remote TCP path

# Initialize with remote TCP (mode = 1) and constrain 6-DOF

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Examples Module processpath

remote_tcp = p[-0.3909, -0.519, 0.295, 1.57, 0.0, 0.0]

pcs = p[0.0, 0.0, 0.01, 0.0, 0.0, 0.0]
mc_initialize(1, remote_tcp, doc = 6)

# Set the PCS Location

mc_set_pcs(pcs)

waypoint1 = p[0.05, 0.1, 0.1, 0.0, 0.0, 0.0]

waypoint2 = p[0.05, 0.05, 0.1, 0.0, 0.0, 0.0]
circle_viapoint = p[0.075, 0.1, 0.1, 0.0, 0.0, 0.0]
circle_endpoint = p[0.1, 0.05, 0.1, 0.0, 0.0, 0.0]
acc_factor = 0.05
speed_factor = 0.25
blend_radius = 0.02
# Circular motion in constrained mode
mode=1

# Add motions
mc_add_linear(waypoint1, acc_factor, speed_factor, blend_radius)
mc_add_linear(waypoint2, acc_factor, speed_factor, blend_radius)
mc_add_circular(circle_viapoint, circle_endpoint, acc_factor,
speed_factor, blend_radius, mode)

# Set different PCS for Subsequent motion

pcs = p[0.0, 0.0, 0.02, 0.0, 0.0, 0.0]
acc_factor = 0.1
speed_factor = 1.0

mc_set_pcs(pcs)
mc_add_path("/programs/myToolPathFile.nc", acc_factor, speed_factor, 0.0)

# Execute the motions

mc_run_motion()

7.3.2 Example 2 - Executing a regular TCP path using 5-DOF

# Initialize with regular TCP (mode = 0) and constrain 5-DOF

remote_tcp = p[0.0, 0.03, 0.125, 2.3580, 0.0, 0.0]
pcs = p[-0.25, -0.65,0.05,0.0,0.0,-1.57]
mc_initialize(0, remote_tcp, doc = 5)

# Set PCS and add the toolpath motion

waypoint1 = p[0.05, 0.1, 0.1, 0.0, 0.0, 0.0]
speed_factor = 0.1
acc_factor = 0.25
blend_radius = 0.02
blend_rad_toolpath = 0.0
mc_set_pcs(pcs)

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Examples Module processpath

mc_add_linear(waypoint1, acc_factor, speed_factor, blend_radius)

path_id = mc_load_path("/programs/myToolPathFile.nc", useFeedRate = False)
mc_add_path(path_id, acc_factor, speed_factor, blend_rad_toolpath)

# Execute the motions

mc_run_motion()

7.3.3 Example 3 - Executing a path and set digital output

# This examples demonstrates using motion id to wait for a specific motion to

# finish and set digital output

# Initialize with remote TCP (mode = 1) and constrain 6-DOF

remote_tcp = p[-0.3909, -0.519, 0.295, 1.57, 0.0, 0.0]
pcs = p[0.0, 0.0, 0.01, 0.0, 0.0, 0.0]
mc_initialize(1, remote_tcp, doc = 6)

# Set PCS and add motions

mc_set_pcs(pcs)
waypoint1 = p[0.05, 0.1, 0.1, 0.0, 0.0, 0.0]
waypoint2 = p[0.05, 0.05, 0.1, 0.0, 0.0, 0.0]
circle_viapoint1 = p[0.075, 0.1, 0.1, 0.0, 0.0, 0.0]
circle_endpoint1 = p[0.1, 0.05, 0.1, 0.0, 0.0, 0.0]
speed_factor = 0.25
acc_factor = 0.05
blend_radius = 0.02
id0 = mc_add_linear(waypoint1, acc_factor, speed_factor, blend_radius)
id1 = mc_add_linear(waypoint2, acc_factor, speed_factor,blend_radius)
id2 = mc_add_circular(circle_viapoint1,circle_endpoint1,
acc_factor, speed_factor, blend_radius, mode = 1)
pcs_toolpath = p[0.0, 0.0, 0.02, 0.0, 0.0, 0.0]
mc_set_pcs(pcs_toolpath)
path_id = mc_load_path("/programs/myToolPathFile.nc", useFeedRate = True)
id3 = mc_add_path(path_id, 1.0, 0.0, 0.0)

# Execute motions to id=id2 and wait for id2 to finish.

# This will execute motions from id0 to id2.
mc_run_motion(id2)

# Set digital output

set_standard_digital_out(7, True)

# Execute the rest of the motions, in this case, just id3

mc_run_motion()

# Set digital output

set_standard_digital_out(7, False)

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7.4 myToolPathFile.nc

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N3670 M9
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148 URScript
INDEX INDEX

Index
interfaces (module), 82–120
interfaces.enable_external_ft_sensor (function), 84
interfaces.ft_rtde_input_enable (function), 84
interfaces.get_analog_in (function), 85
interfaces.get_analog_out (function), 86
interfaces.get_configurable_digital_in (function), 86
interfaces.get_configurable_digital_out (function), 87
interfaces.get_digital_in (function), 87
interfaces.get_digital_out (function), 88
interfaces.get_flag (function), 88
interfaces.get_standard_analog_in (function), 89
interfaces.get_standard_analog_out (function), 89
interfaces.get_standard_digital_in (function), 89
interfaces.get_standard_digital_out (function), 90
interfaces.get_tool_analog_in (function), 90
interfaces.get_tool_digital_in (function), 91
interfaces.get_tool_digital_out (function), 91
interfaces.get_tool_digital_output_mode (function), 92
interfaces.get_tool_output_mode (function), 92
interfaces.modbus_add_signal (function), 92
interfaces.modbus_delete_signal (function), 93
interfaces.modbus_get_signal_status (function), 94
interfaces.modbus_send_custom_command (function), 94
interfaces.modbus_set_digital_input_action (function), 95
interfaces.modbus_set_output_register (function), 96
interfaces.modbus_set_output_signal (function), 96
interfaces.modbus_set_signal_update_frequency (function), 97
interfaces.read_input_boolean_register (function), 97
interfaces.read_input_float_register (function), 98
interfaces.read_input_integer_register (function), 98
interfaces.read_output_boolean_register (function), 99
interfaces.read_output_float_register (function), 99
interfaces.read_output_integer_register (function), 100
interfaces.read_port_bit (function), 100
interfaces.read_port_register (function), 101
interfaces.rpc_factory (function), 101
interfaces.rtde_set_watchdog (function), 102
interfaces.set_analog_inputrange (function), 103
interfaces.set_analog_out (function), 104
interfaces.set_configurable_digital_out (function), 104
interfaces.set_digital_out (function), 105
interfaces.set_flag (function), 105
interfaces.set_standard_analog_out (function), 105
interfaces.set_standard_digital_out (function), 106
interfaces.set_tool_communication (function), 106
interfaces.set_tool_digital_out (function), 107
interfaces.set_tool_digital_output_mode (function), 108

149 URScript
INDEX INDEX

interfaces.set_tool_output_mode (function), 108

interfaces.set_tool_voltage (function), 108
interfaces.socket_close (function), 109
interfaces.socket_get_var (function), 109
interfaces.socket_open (function), 109
interfaces.socket_read_ascii_float (function), 110
interfaces.socket_read_binary_integer (function), 111
interfaces.socket_read_byte_list (function), 112
interfaces.socket_read_line (function), 113
interfaces.socket_read_string (function), 114
interfaces.socket_send_byte (function), 115
interfaces.socket_send_int (function), 116
interfaces.socket_send_line (function), 116
interfaces.socket_send_string (function), 117
interfaces.socket_set_var (function), 117
interfaces.write_output_boolean_register (function), 118
interfaces.write_output_float_register (function), 118
interfaces.write_output_integer_register (function), 119
interfaces.write_port_bit (function), 119
interfaces.write_port_register (function), 120
interfaces.zero_ftsensor (function), 120
internals (module), 44–65
internals.force (function), 45
internals.get_actual_joint_positions (function), 45
internals.get_actual_joint_positions_history (function), 45
internals.get_actual_joint_speeds (function), 45
internals.get_actual_tcp_pose (function), 46
internals.get_actual_tcp_speed (function), 46
internals.get_actual_tool_flange_pose (function), 46
internals.get_controller_temp (function), 46
internals.get_forward_kin (function), 47
internals.get_inverse_kin (function), 47
internals.get_inverse_kin_has_solution (function), 48
internals.get_joint_temp (function), 49
internals.get_joint_torques (function), 49
internals.get_steptime (function), 49
internals.get_target_joint_positions (function), 50
internals.get_target_joint_speeds (function), 50
internals.get_target_payload (function), 50
internals.get_target_payload_cog (function), 50
internals.get_target_tcp_pose (function), 51
internals.get_target_tcp_speed (function), 51
internals.get_target_waypoint (function), 51
internals.get_tcp_force (function), 51
internals.get_tcp_offset (function), 52
internals.get_tool_accelerometer_reading (function), 52
internals.get_tool_current (function), 52
internals.is_steady (function), 52
internals.is_within_safety_limits (function), 53

150 URScript
INDEX INDEX

internals.popup (function), 53
internals.powerdown (function), 54
internals.set_gravity (function), 54
internals.set_payload (function), 54
internals.set_payload_cog (function), 55
internals.set_payload_mass (function), 55
internals.set_tcp (function), 56
internals.sleep (function), 56
internals.str_at (function), 56
internals.str_cat (function), 57
internals.str_empty (function), 58
internals.str_find (function), 59
internals.str_len (function), 59
internals.str_sub (function), 60
internals.sync (function), 61
internals.textmsg (function), 61
internals.to_num (function), 62
internals.to_str (function), 63
internals.tool_contact (function), 64
internals.tool_contact_examples (function), 64
ioconfiguration (module), 120–132
ioconfiguration.modbus_set_runstate_dependent_choice (function), 121
ioconfiguration.set_analog_outputdomain (function), 121
ioconfiguration.set_configurable_digital_input_action (function), 122
ioconfiguration.set_gp_boolean_input_action (function), 122
ioconfiguration.set_input_actions_to_default (function), 123
ioconfiguration.set_runstate_configurable_digital_output_to_value (function), 123
ioconfiguration.set_runstate_gp_boolean_output_to_value (function), 124
ioconfiguration.set_runstate_gp_float_output_to_value (function), 125
ioconfiguration.set_runstate_gp_integer_output_to_value (function), 126
ioconfiguration.set_runstate_standard_analog_output_to_value (function), 127
ioconfiguration.set_runstate_standard_digital_output_to_value (function), 128
ioconfiguration.set_runstate_tool_digital_output_to_value (function), 129
ioconfiguration.set_standard_analog_input_domain (function), 130
ioconfiguration.set_standard_digital_input_action (function), 130
ioconfiguration.set_tool_analog_input_domain (function), 131
ioconfiguration.set_tool_digital_input_action (function), 131

motion (module), 15–44

motion.conveyor_pulse_decode (function), 16
motion.encoder_enable_pulse_decode (function), 16
motion.encoder_enable_set_tick_count (function), 17
motion.encoder_get_tick_count (function), 18
motion.encoder_set_tick_count (function), 18
motion.encoder_unwind_delta_tick_count (function), 19
motion.end_force_mode (function), 20
motion.end_freedrive_mode (function), 21
motion.end_screw_driving (function), 21
motion.end_teach_mode (function), 21

151 URScript
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motion.force_mode (function), 21
motion.force_mode_example (function), 22
motion.force_mode_set_damping (function), 23
motion.force_mode_set_gain_scaling (function), 23
motion.freedrive_mode (function), 24
motion.get_conveyor_tick_count (function), 24
motion.get_target_tcp_pose_along_path (function), 24
motion.get_target_tcp_speed_along_path (function), 24
motion.movec (function), 25
motion.movej (function), 26
motion.movel (function), 27
motion.movep (function), 28
motion.path_offset_disable (function), 29
motion.path_offset_enable (function), 29
motion.path_offset_get (function), 30
motion.path_offset_set (function), 30
motion.path_offset_set_alpha_filter (function), 31
motion.path_offset_set_max_offset (function), 32
motion.pause_on_error_code (function), 32
motion.position_deviation_warning (function), 33
motion.reset_revolution_counter (function), 34
motion.screw_driving (function), 35
motion.servoc (function), 36
motion.servoj (function), 37
motion.set_conveyor_tick_count (function), 38
motion.set_pos (function), 39
motion.set_safety_mode_transition_hardness (function), 40
motion.speedj (function), 40
motion.speedl (function), 40
motion.stop_conveyor_tracking (function), 41
motion.stopj (function), 41
motion.stopl (function), 42
motion.teach_mode (function), 42
motion.track_conveyor_circular (function), 42
motion.track_conveyor_linear (function), 43

processpath (module), 132–138

processpath.mc_add_circular (function), 133
processpath.mc_add_linear (function), 133
processpath.mc_add_path (function), 134
processpath.mc_get_target_rtcp_speed (function), 135
processpath.mc_initialize (function), 135
processpath.mc_load_path (function), 136
processpath.mc_run_motion (function), 137
processpath.mc_set_pcs (function), 137
processpath.mc_set_speed_factor (function), 138

urmath (module), 65–82

urmath.acos (function), 66
urmath.asin (function), 66

152 URScript
INDEX INDEX

urmath.atan (function), 66
urmath.atan2 (function), 67
urmath.binary_list_to_integer (function), 67
urmath.ceil (function), 68
urmath.cos (function), 68
urmath.d2r (function), 69
urmath.floor (function), 69
urmath.get_list_length (function), 69
urmath.integer_to_binary_list (function), 70
urmath.interpolate_pose (function), 70
urmath.inv (function), 71
urmath.length (function), 71
urmath.log (function), 72
urmath.norm (function), 72
urmath.normalize (function), 73
urmath.point_dist (function), 73
urmath.pose_add (function), 74
urmath.pose_dist (function), 74
urmath.pose_inv (function), 75
urmath.pose_sub (function), 75
urmath.pose_trans (function), 76
urmath.pow (function), 77
urmath.r2d (function), 78
urmath.random (function), 78
urmath.rotvec2rpy (function), 78
urmath.rpy2rotvec (function), 79
urmath.sin (function), 80
urmath.size (function), 80
urmath.sqrt (function), 81
urmath.tan (function), 81
urmath.transpose (function), 81
urmath.wrench_trans (function), 82

153 URScript