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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
Module internals
force()
estimate_payload(poses, wrenches)
get_actual_joint_accelerations()
get_actual_joint_positions()
get_actual_joint_positions_history(steps=0)
get_actual_joint_speeds()
get_actual_tcp_pose()
get_actual_tcp_speed()
get_actual_tool_flange_pose()
get_base_acceleration()
get_controller_temp()
get_coriolis_and_centrifugal_torques(q, qd)
get_forward_kin(q=’current_joint_positions’, tcp=’active_tcp’)
get_gravity()
get_inverse_kin(x, qnear, maxPositionError =1e-10,maxOrientationError =1e-10, tcp=’active_tcp’)
get_inverse_kin_has_solution(pose, qnear, maxPositionError=1E-10, maxOrientationError=1e-10, tcp="active_tcp")
get_jacobian(q, tcp)
get_jacobian_time_derivative(q, qd, tcp)
get_joint_temp(j)
get_joint_torques()
get_mass_matrix(q, include_rotors_inertia=False)
get_steptime()
get_target_joint_accelerations()
get_target_joint_positions()
get_target_joint_speeds()
get_target_payload()
get_target_payload_cog()
get_target_payload_inertia()
get_target_tcp_pose()
get_target_tcp_speed()
get_target_waypoint()
get_tcp_force()
get_tcp_offset()
get_tool_accelerometer_reading()
get_tool_current()
get_tool_temp()
high_holding_torque_disable()
high_holding_torque_enable()
is_steady()
is_within_safety_limits(position, qNear=current joint configuration)
popup(s, title=’Popup’, warning=False, error=False, blocking=False)
powerdown()
protective_stop()
set_base_acceleration(a)
set_baselight_off()
set_baselight_iec()
set_baselight_solid(r,g,b)
set_gravity(d)
set_payload(m, cog)
set_payload_cog(CoG)
set_payload_mass(m)
set_target_payload(m, cog, inertia=[0, 0, 0, 0, 0, 0], transition_time=0)
set_tcp(pose, tcp_name="")
sleep(t)
time(mode=0)
str_at(src, index)
str_cat(op1, op2)
str_empty(str)
str_find(src, target, start_from=0)
str_len(str)
str_sub(src, index, len)
sync()
textmsg(s1, s2=’’)
to_num(str )
to_str(val)
tool_contact(direction=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], force_threshold=0.0)
tool_contact_examples()
Module urmath
Module interfaces
Module ioconfiguration
Module processpath
Flexible Ethernet/IP Adapter
Service Your Robot
Components For Your Robot
Kits For Your Robot
Application Guides
Software Guides
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powerdown()
Shut down the robot, and power off the robot and controller.