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PolyScope 5 Software Handbook
Robot User Manuals
Script Directory
Introduction
Connecting to URControl
Numbers, Variables, and Types
Lists and Structs
Matrix and Array Expressions
Flow of Control
Function
Remote Procedure Call (RPC)
Scoping rules
Threads
Program Label
Secondary Programs
Interpreter Mode
Motion Version
Module motion
conveyor_pulse_decode(type, A, B)
direct_torque(torque, viscous_scale=[0.9, 0.9, 0.8, 0.9, 0.9, 0.9], coulomb_scale=[0.8, 0.8, 0.7, 0.8, 0.8, 0.8])
encoder_enable_pulse_decode(encoder_index, decoder_type, A, B)
encoder_enable_set_tick_count(encoder_index, range_id)
encoder_get_tick_count(encoder_index, opt="")
encoder_set_tick_count(encoder_index, count)
encoder_unwind_delta_tick_count(encoder_index, delta_tick_count)
end_force_mode()
end_freedrive_mode()
end_screw_driving()
end_teach_mode()
force_mode(task_frame, selection_vector, wrench, type, limits)
force_mode_example()
force_mode_get_damping()
force_mode_get_gain_scaling()
force_mode_set_damping(damping)
force_mode_set_gain_scaling(scaling)
freedrive_mode (freeAxes=[1, 1, 1, 1, 1, 1], feature=p[0, 0, 0, 0, 0, 0])
freedrive_mode_no_incorrect_payload_check()
get_conveyor_tick_count()
get_freedrive_status()
get_target_tcp_pose_along_path()
get_target_tcp_speed_along_path()
jerk_gain_scaling_get()
jerk_gain_scaling_set()
motion_version_get()
motion_version_set(version)
movec(pose_via, pose_to, a=1.2, v=0.25, r =0, mode=0)
movej
movel
movep(pose, a=1.2, v=0.25, r=0)
optimovej(goal, a=0.3, v=0.3, r=0)
optimovel(goal, a=0.3, v=0.3, r=0)
path_offset_disable(a=20)
path_offset_enable()
path_offset_get(type)
path_offset_set(offset, type)
path_offset_set_alpha_filter(alpha)
path_offset_set_max_offset(transLimit, rotLimit)
pause_on_error_code(code, argument)
position_deviation_warning(enabled, threshold=0.8)
reset_revolution_counter(qNear=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
screw_driving(f, v_limit)
servoj(q, a, v, t=0.002, lookahead_time=0.1, gain=300)
set_conveyor_tick_count(tick_count, absolute_encoder_resolution=0)
set_pos(q)
set_safety_mode_transition_hardness(type)
speedj(qd, a, t)
speedl(xd, a, t, aRot=’a’)
stop_conveyor_tracking(a=20)
stopj(a)
stopl(a, aRot=’a’)
tool_wrench_limit_set(frame_offset, Fx, Fy, Fz, Mx, My, Mz)
tool_wrench_limit_disable()
teach_mode()
track_conveyor_circular(center, ticks_per_revolution, rotate_tool=’False’, encoder_index=0)
track_conveyor_linear(direction, ticks_per_meter, encoder_index=0)
Module internals
Module urmath
Module interfaces
Module ioconfiguration
Module processpath
Flexible Ethernet/IP Adapter
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end_freedrive_mode()
Set robot back in normal position control mode after freedrive mode.