The URScript Programming Language

for SW5

5.14
The information contained herein is the property of Universal Robots A/S and shall not be
reproduced in whole or in part without prior written approval of Universal Robots A/S. The
information herein is subject to change without notice and should not be construed as a
commitment by Universal Robots A/S. This document is periodically reviewed and revised.
Universal Robots A/S assumes no responsibility for any errors or omissions in this document.
Copyright © 2009–2023 by Universal Robots A/S.
The Universal Robots logo is a registered trademark of Universal Robots A/S.
 Contents
1. Introduction 1
2. Connecting to URControl 2
3. Numbers, Variables, and Types 3
4. Matrix and Array Expressions 4
5. Flow of Control 6
5.1. Special keywords 6
6. Function 7
7. Remote Procedure Call (RPC) 9
7.1. closeXMLRPCClientConnection() 10

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

8. Scoping rules 11
9. Threads 13
9.1. Threads and scope 14
9.2. Thread scheduling 14
10. Program Label 16
11. Secondary Programs 17
11.1. Secondary Program Limitations 17
12. Interpreter Mode 18
12.1. Interpreter Mode replies 18
12.2. Entering Interpreter Mode 19
12.3. End Interpreter Mode 20
12.4. Clear Interpreter Mode 20
12.5. Aborting Current Function 20
12.6. Skip Non Executed Statements 21
12.7. State Commands for Interpreter Mode 21
12.8. Interpreter mode log files 22
13. Module motion 23
13.1. Functions 23
13.1.1. conveyor_pulse_decode(type, A, B) 23
13.1.2. encoder_enable_pulse_decode(encoder_index, decoder_type, A, B) 24
13.1.3. encoder_enable_set_tick_count(encoder_index, range_id) 25
13.1.4. encoder_get_tick_count(encoder_index, opt="") 25
13.1.5. encoder_set_tick_count(encoder_index, count) 26

Script Manual e-Series

 13.1.6. encoder_unwind_delta_tick_count(encoder_index, delta_tick_count) 26
13.1.7. end_force_mode() 27
13.1.8. end_freedrive_mode() 27
13.1.9. end_screw_driving() 27
13.1.10. end_teach_mode() 27
13.1.11. force_mode(task_frame, selection_vector, wrench, type, limits) 28
13.1.12. force_mode_example() 28
13.1.13. force_mode_set_damping(damping) 29
13.1.14. force_mode_set_gain_scaling(scaling) 29
13.1.15. freedrive_mode (freeAxes=[1, 1, 1, 1, 1, 1], feature=p[0, 0, 0, 0, 0, 0]) 30
13.1.16. freedrive_mode_no_incorrect_payload_check() 31
13.1.17. get_conveyor_tick_count() 31
13.1.18. get_freedrive_status() 31
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.19. get_target_tcp_pose_along_path() 32
13.1.20. get_target_tcp_speed_along_path() 32
13.1.21. movec(pose_via, pose_to, a=1.2, v=0.25, r =0, mode=0) 32
13.1.22. movej(q, a=1.4, v=1.05, t=0, r =0) 33
13.1.23. movel(pose, a=1.2, v=0.25, t=0, r=0) 34
13.1.24. movep(pose, a=1.2, v=0.25, r=0) 35
13.1.25. path_offset_disable(a=20) 35
13.1.26. path_offset_enable() 35
13.1.27. path_offset_get(type) 36
13.1.28. path_offset_set(offset, type) 36
13.1.29. path_offset_set_alpha_filter(alpha) 37
13.1.30. path_offset_set_max_offset(transLimit, rotLimit) 38
13.1.31. pause_on_error_code(code, argument) 38
13.1.32. position_deviation_warning(enabled, threshold=0.8) 38
13.1.33. reset_revolution_counter(qNear=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) 39
13.1.34. screw_driving(f, v_limit) 39
13.1.35. servoc(pose, a=1.2, v=0.25, r=0) 40
13.1.36. servoj(q, a, v, t=0.002, lookahead_time=0.1, gain=300) 41
13.1.37. set_conveyor_tick_count(tick_count, absolute_encoder_resolution=0) 42
13.1.38. set_pos(q) 43
13.1.39. set_safety_mode_transition_hardness(type) 43
13.1.40. speedj(qd, a, t) 43
13.1.41. speedl(xd, a, t, aRot=’a’) 44
13.1.42. stop_conveyor_tracking(a=20) 44
13.1.43. stopj(a) 45
13.1.44. stopl(a, aRot=’a’) 45

e-Series Script Manual

 13.1.45. teach_mode() 45
13.1.46. track_conveyor_circular(center, ticks_per_revolution, rotate_tool=’False’,
encoder_index=0) 46
13.1.47. track_conveyor_linear(direction, ticks_per_meter, encoder_index=0) 46

14. Module internals 48

14.1. Functions 48
14.1.1. force() 48
14.1.2. get_actual_joint_positions() 48
14.1.3. get_actual_joint_positions_history(steps=0) 48
14.1.4. get_actual_joint_speeds() 49
14.1.5. get_actual_tcp_pose() 49
14.1.6. get_actual_tcp_speed() 49
14.1.7. get_actual_tool_flange_pose() 49

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

14.1.8. get_controller_temp() 50
14.1.9. get_forward_kin(q=’current_joint_positions’, tcp=’active_tcp’) 50
14.1.10. get_inverse_kin(x, qnear, maxPositionError =1e-10,maxOrientationError =1e-10,
tcp=’active_tcp’) 51
14.1.11. get_inverse_kin_has_solution(pose, qnear, maxPositionError=1E-10,
maxOrientationError=1e-10, tcp="active_tcp") 51
14.1.12. get_joint_temp(j) 52
14.1.13. get_joint_torques() 52
14.1.14. get_steptime() 52
14.1.15. get_target_joint_positions() 53
14.1.16. get_target_joint_speeds() 53
14.1.17. get_target_payload() 53
14.1.18. get_target_payload_cog() 53
14.1.19. get_target_payload_inertia() 54
14.1.20. get_target_tcp_pose() 54
14.1.21. get_target_tcp_speed() 54
14.1.22. get_target_waypoint() 54
14.1.23. get_tcp_force() 55
14.1.24. get_tcp_offset() 55
14.1.25. get_tool_accelerometer_reading() 56
14.1.26. get_tool_current() 56
14.1.27. is_steady() 56
14.1.28. is_within_safety_limits(pose, qnear) 56
14.1.29. popup(s, title=’Popup’, warning=False, error=False, blocking=False) 57
14.1.30. powerdown() 57
14.1.31. set_gravity(d) 58

Script Manual e-Series

 14.1.32. set_payload(m, cog) 58
14.1.33. set_payload_cog(CoG) 59
14.1.34. set_payload_mass(m) 59
14.1.35. set_target_payload(m, cog, inertia=[0, 0, 0, 0, 0, 0], transition_time=0) 60
14.1.36. set_tcp(pose) 61
14.1.37. sleep(t) 61
14.1.38. str_at(src, index) 62
14.1.39. str_cat(op1, op2) 62
14.1.40. str_empty(str) 63
14.1.41. str_find(src, target, start_from=0) 64
14.1.42. str_len(str) 64
14.1.43. str_sub(src, index, len) 65
14.1.44. sync() 66
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

14.1.45. textmsg(s1, s2=’’) 66

14.1.46. to_num(str ) 66
14.1.47. to_str(val) 67
14.1.48. tool_contact(direction) 68
14.1.49. tool_contact_examples() 68

15. Module urmath 70

15.1. Functions 70
15.1.1. acos(f ) 70
15.1.2. asin(f ) 70
15.1.3. atan(f ) 71
15.1.4. atan2(x, y) 71
15.1.5. binary_list_to_integer(l) 71
15.1.6. ceil(f ) 72
15.1.7. cos(f ) 72
15.1.8. d2r(d) 73
15.1.9. floor(f ) 73
15.1.10. get_list_length(v) 74
15.1.11. integer_to_binary_list(x) 74
15.1.12. interpolate_pose(p_from, p_to, alpha) 74
15.1.13. inv(m) 75
15.1.14. length(v) 75
15.1.15. log(b, f ) 76
15.1.16. norm(a) 76
15.1.17. normalize(v) 77
15.1.18. point_dist(p_from, p_to) 77

e-Series Script Manual

 15.1.19. pose_add(p_1, p_2) 78
15.1.20. pose_dist(p_from, p_to) 78
15.1.21. pose_inv(p_from) 79
15.1.22. pose_sub(p_to, p_from) 79
15.1.23. pose_trans(p_from, p_from_to) 80
15.1.24. pow(base, exponent) 80
15.1.25. r2d(r) 81
15.1.26. random() 81
15.1.27. rotvec2rpy(rotation_vector) 81
15.1.28. rpy2rotvec(rpy_vector) 82
15.1.29. sin(f ) 82
15.1.30. size(v) 83
15.1.31. sqrt(f ) 83

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

15.1.32. tan(f) 83
15.1.33. transpose(m) 84
15.1.34. wrench_trans(T_from_to, w_from) 84

16. Module interfaces 86

16.1. Functions 86
16.1.1. 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]) 86
16.1.2. 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]) 87
16.1.3. get_analog_in(n) 88
16.1.4. get_analog_out(n) 88
16.1.5. get_configurable_digital_in(n) 89
16.1.6. get_configurable_digital_out(n) 89
16.1.7. get_digital_in(n) 90
16.1.8. get_digital_out(n) 90
16.1.9. get_flag(n) 91
16.1.10. get_standard_analog_in(n) 91
16.1.11. get_standard_analog_out(n) 91
16.1.12. get_standard_digital_in(n) 92
16.1.13. get_standard_digital_out(n) 92
16.1.14. get_tool_analog_in(n) 93
16.1.15. get_tool_digital_in(n) 93
16.1.16. get_tool_digital_out(n) 93
16.1.17. modbus_add_signal(IP, slave_number, signal_address, signal_type, signal_
name, sequential_mode=False, register_count=1) 94

Script Manual e-Series

 16.1.18. modbus_add_rw_signal(IP, slave_number, read_address, read_register_count,
write_address, write_register_count, signal_name, sequential_mode=False) 96
16.1.19. modbus_delete_signal(signal_name) 97
16.1.20. modbus_get_signal_status(signal_name, is_secondary_program=False) 97
16.1.21. modbus_send_custom_command(IP, slave_number, function_code, data) 98
16.1.22. modbus_set_digital_input_action(signal_name, action) 98
16.1.23. modbus_set_output_register(signal_name, register_value, is_secondary_
program) 99
16.1.24. modbus_set_output_signal(signal_name, digital_value, is_secondary_program) 99
16.1.25. modbus_set_signal_update_frequency(signal_name, update_frequency) 100
16.1.26. modbus_get_error(signal_name) 100
16.1.27. modbus_get_time_since_signal_invalid(signal_name) 101
16.1.28. modbus_request_update_signal_value(signal_name) 102
16.1.29. modbus_reset_connection(connection_id, is_blocking=True) 102
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

16.1.30. modbus_set_signal_watchdog(signal_name, new_timeout_in_sec) 102

16.1.31. read_input_boolean_register(address) 103
16.1.32. read_input_float_register(address) 103
16.1.33. read_input_integer_register(address) 104
16.1.34. read_output_boolean_register(address) 104
16.1.35. read_output_float_register(address) 105
16.1.36. read_output_integer_register(address) 105
16.1.37. read_port_bit(address) 106
16.1.38. read_port_register(address) 106
16.1.39. rpc_factory(type, url) 106
16.1.40. rtde_set_watchdog(variable_name, min_frequency, action=’pause’) 107
16.1.41. set_analog_inputrange(port, range) 108
16.1.42. set_analog_out(n, f ) 108
16.1.43. set_configurable_digital_out(n, b) 109
16.1.44. set_digital_out(n, b) 109
16.1.45. set_flag(n, b) 110
16.1.46. set_standard_analog_out(n, f) 110
16.1.47. set_standard_digital_out(n, b) 110
16.1.48. set_tool_digital_out(n, b) 111
16.1.49. set_tool_communication(enabled, baud_rate, parity, stop_bits, 111
16.1.50. set_tool_digital_output_mode (n, mode) 112
16.1.51. set_tool_output_mode (mode) 112
16.1.52. set_tool_voltage(voltage) 113
16.1.53. socket_close(socket_name=’socket_0’) 113
16.1.54. socket_get_var(name, socket_name=’socket_0’) 113

e-Series Script Manual

 16.1.55. socket_open(address, port, socket_name=’socket_0’) 114
16.1.56. socket_read_ascii_float(number, socket_name=’socket_0’, timeout=2) 115
16.1.57. socket_read_binary_integer(number, socket_name=’socket_0’, timeout=2) 115
16.1.58. socket_read_byte_list(number, socket_name=’socket_0’, timeout=2) 116
16.1.59. socket_read_line(socket_name=’socket_0’, timeout=2) 116
16.1.60. socket_read_string(socket_name=’socket_0’, prefix =’’, suffix =’’, interpret_
escape=’False’, timeout=2) 117
16.1.61. socket_send_byte(value, socket_name=’socket_0’) 118
16.1.62. socket_send_int(value, socket_name=’socket_0’) 119
16.1.63. socket_send_line(str, socket_name=’socket_0’) 119
16.1.64. socket_send_string(str, socket_name=’socket_0’) 120
16.1.65. socket_set_var(name, value, socket_name=’socket_0’) 120
16.1.66. write_output_boolean_register(address, value) 121

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

16.1.67. write_output_float_register(address, value) 121
16.1.68. write_output_integer_register(address, value) 122
16.1.69. write_port_bit(address, value) 122
16.1.70. write_port_register(address, value) 122
16.1.71. zero_ftsensor() 123

17. Module ioconfiguration 124

17.1. Functions 124
17.1.1. modbus_set_runstate_dependent_choice(signal_name, runstate_choice) 124
17.1.2. set_analog_outputdomain(port, domain) 124
17.1.3. set_configurable_digital_input_action(port, action) 125
17.1.4. set_gp_boolean_input_action(port, action) 125
17.1.5. set_input_actions_to_default() 126
17.1.6. set_runstate_configurable_digital_output_to_value(outputId, state) 126
17.1.7. set_runstate_gp_boolean_output_to_value(outputId, state) 127
17.1.8. set_runstate_standard_analog_output_to_value(outputId, state) 128
17.1.9. set_runstate_standard_digital_output_to_value(outputId, state) 128
17.1.10. set_runstate_tool_digital_output_to_value(outputId, state) 129
17.1.11. set_standard_analog_input_domain(port, domain) 130
17.1.12. set_standard_digital_input_action(port, action) 130
17.1.13. set_tool_analog_input_domain(port, domain) 131
17.1.14. set_tool_digital_input_action(port, action) 131
17.1.15. set_baselight_off() 132
17.1.16. set_baselight_iec() 132
17.1.17. set_baselight_solid(r,g,b) 132

18. Module processpath 133

Script Manual e-Series

 18.1. This module contains Remote TCP and toolpath APIs. 133
18.2. Functions 133
18.2.1. mc_add_circular(pose_via, pose_to, a, v, r, mode=0) 133
18.2.2. mc_add_linear(pose, a, v, r) 134
18.2.3. mc_add_path(path_id, a, v, r) 135
18.2.4. mc_get_target_rtcp_speed() 135
18.2.5. mc_initialize(mode, tcp, doc=6) 135
18.2.6. mc_load_path(nc_file, useFeedRate) 136
18.2.7. mc_run_motion(id=-1) 137
18.2.8. mc_set_pcs(pcs) 137
18.2.9. mc_set_speed_factor(s) 138

18.3. Examples 138

18.3.1. Example 1 - Executing a remote TCP path 138
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

18.3.2. Example 2 - Executing a regular TCP path using 5-DOF 139

18.3.3. Example 3 - Executing a path and set digital output 139

18.4. myToolPathFile.nc 140

19. Glossary 153

e-Series Script Manual

1. Introduction

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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Script Manual 1 e-Series

 2. Connecting to URControl

2. Connecting to URControl
URControl is the low-level robot controller running on the Embedded PC in the Control Box cabinet.
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-<serial number> (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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

Important:
It is recommended to always read data from the socket. At least 79 bytes have to be read from
socket before closing to ensure that underlying TCP protocol closes socket orderly. Otherwise data
sent from client may be discarded before script is executed.
It is especially important in cases when socket is opened just to send single script, and closed
immediately.
It is recommended to keep sockets open instead of opening end closing for each and every
request.

e-Series 2 Script Manual

3. Numbers, Variables, and Types

3. Numbers, Variables, and Types

In URScript arithmetic expression syntax is standard:
1+2-3
4*5/6 (1+2)*3/(4-5)
"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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

bar = False or True and not False baz = 87-13/3.1415
hello = "Hello, World!" l = [1,2,4]
target = p[0.4,0.4,0.0,0.0,3.14159,0.0]
The fundamental type of a variable is deduced from the first assignment of the vari- able. In the
example above foo is an int and bar is a bool. target is a pose: a combination of a position and
orientation.
The fundamental types are:
• none
• bool
• number - either int or float
• pose
• string

A pose is given as p[x,y,z,ax,ay,az], where x,y,z is the position of the TCP, 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 that may appear to operate on characters
(e.g. str_len), actually operates on bytes and the result may not correspond to the expected one
in case of string containing sequences of multi-byte or variable-length characters. Refer to the
description of the single function for more details.

Script Manual 3 e-Series

 4. Matrix and Array Expressions

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Matrix and array can bemanipulated bymatrix-matrix, array-array,matrix-array,matrixscalar 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, subtraction,
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]

e-Series 4 Script Manual

4. Matrix and Array Expressions

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]]

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Script Manual 5 e-Series

 5. Flow of Control

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

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.

e-Series 6 Script Manual

6. Function

6. Function
A function is declared as follows:

def add(a, b):

return a+b

end

The function can then be called like this:

result = add(1, 4)
It is also possible to give function arguments default values:

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

return a+b

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

Script Manual 7 e-Series

 6. Function

URScript also supports named parameters.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

e-Series 8 Script Manual

7. Remote Procedure Call (RPC)

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 being 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 program 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.
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")

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

camera.takeSnapshot()

target = camera.getTarget()

camera.closeXMLRPCClientConnection()

...

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 closeXMLRPCClientConnection is closing the XMLRPC connection created by the rpc_
factory. It is recommended to close the connection periodically, or when it's not used for a
longer time. Some server implementations by default have a limit of rpc requests or inactivity
watchdog timers.
NOTE: The RPC handle does not automatically close the connecetion.
The technical support website: http://www.universal-robots.com/support contains more examples
of XMLRPC servers.

Script Manual 9 e-Series

 7. Remote Procedure Call (RPC)

7.1. closeXMLRPCClientConnection()

Closes a Remote Procedure Call (RPC) handle.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

e-Series 10 Script Manual

8. Scoping rules

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 accessible.

For each variable the controller determines the scope binding, i.e. whether the variable is global or
local. In case no local or global qualifier is specified (also called a free variable), the controller will

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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():

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 function is the
same variable declared in the program:

def myProg():

global a = 0

def myFun():

a = 1

...

end

Script Manual 11 e-Series

 8. Scoping rules

...

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

...
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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():

a = 0

def myFun():

a = 1

...

end

...

end

The variables a are one and the same.

e-Series 12 Script Manual

9. Threads

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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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:

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:

Script Manual 13 e-Series

 9. Threads

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

9.1. Threads and scope

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

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 1 fashion.

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

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9. Threads

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 1. 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 control the robot, otherwise an exception like
"Lost communication with Controller" can be raised with a consequent protective stop.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

1If this expectation is not met, the program is stopped.

Script Manual 15 e-Series

 10. Program Label

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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

e-Series 16 Script Manual

11. Secondary Programs

11. Secondary Programs

Secondary program is executed by the robot controller concurrently and simultaneously 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 program 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. Exceptions are
reported in robot controller log files.
The secondary function must be defined using the keyword "sec" as follows:

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

sec secondaryProgram():

set_digital_out(1,True)

end

11.1. Secondary Program Limitations

Secondary programs are typically run as support programs, they are designed to be executed
concurrently with the primary program using real time control loop. Entire execution time is added
to single real time cycle. Due to their nature they have some limitations in using specific
commands.
Motion Commands: Using any motion commands in secondary program such as movej, movel
and servoj will not work. They will cause an error of "Runtime is too much behind". The motion
commands depend on the external factor (real robot motion) and are waiting for the result of the
execution, which is not possible in secondary programs.
Interpreter Mode: Sending new commands during runtime essentially goes against the design of
secondary programs. This will again give you the error of runtime too much behind.
Socket: Socket communication can be used within secondary programs, but this is limited to
executing simple non-blocking commands like single socket_send. Slow remote server or
attempt to execute multiple socket commands will cause "Runtime too much behind", or prevent
controller from executing real-time tasks. Socket commands should be avoided in secondary
programs.
XMLRPC: Like socket, XMLRPC calls can be used in secondary programs although they need to be
executed very quickly by remote server. XMLRPC calls should be avoided in secondary programs.
Sleep: Sleep, similar to motion commands is a blocking call by nature. It requires multiple real-time
cycles to complete. Using Sleep will cause an error of "Runtime is too much behind"
Threads: Threads in secondary programs are not supported. Thread code execution is not
guaranteed, and leads to undefined behaviour.

Script Manual 17 e-Series

 12. Interpreter Mode

12. Interpreter Mode

The interpreter mode enables the programmer to send and execute any valid script statement at
runtime, except declaration of new globals.
An internal interpreter thread is created at the start of execution of each primary program. The
interpreter socket(30020) accepts complete and valid UR-script statements when a program is
running. When Interpreter mode is active it compiles and links the received statements into the
running program and executes them in the scope of the interpreter thread. These statements
become a part of the running program.
The scope of statements in the interpreter mode is inherited from the scope from which interpreter
mode was called. Be aware that declaring new global variables in interpreter mode is not
supported.
When statements are sent at a faster rate than what the interpreter can handle, they are queued in
an internal buffer before they can be appended to the running program.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

When the last statement received is executed, the interpreter thread will be idle until new
statements are received.
Interpreter mode can be stopped by calling end_interpreter() over the interpreter mode
socket, or by calling it from a thread in the main program. Interpreter mode also stops when the
program is stopped.
Each statement should be sent in a single line, so the following statement:
def myFun():
mystring = "Hello Interpreter"
textmsg(mystring)
end
Should be formatted like below:
def myFun(): mystring = "Hello Interpreter" textmsg(mystring) end
With a newline character to end the statement. Multiple statements can be sent on a single line,
and will only be accepted if all can be compiled.

12.1. Interpreter Mode replies

Received valid commands and statements are always acknowledge with a reply on the socket in
form of:
ack: <id>: <statements>
Where <id> is a consecutively unique id for the received <statement>.
If a program is not running or the statement results in a compilation or linker error, the interpreter
will reply with a discard message:
discard: <reason>: <statement>.

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12. Interpreter Mode

Note: There exists an upper limit to the size of the interpreted statements per interpreter mode. To
avoid reaching that limit clear_interpreter() can be called to clear up everything interpreted
into the current interpreter mode.
Important: It is important to remember that every time a statement is interpreted the size and the
complexity of the program will grow if interpreter mode is not cleared either on exit or with clear_
interpreter(). Too large programs should be avoided.

12.2. Entering Interpreter Mode

interpreter_mode(clearQueueOnEnter = True, clearOnEnd = True)

This is a blocking function that puts the controller in interpreter mode.

This function can only be called in the main thread, and nested interpreter modes are not
supported. This means that one can’t send an interpreter_mode() call to the interpreter socket.
Parameters

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

clearQueueOnEnter: If True queued statements will be cleared before interpreter mode is
started.
It is possible to send statements to the interpreter socket before interpreter mode is run. These
are put into a queue, which by default is cleared when interpreter_mode() is called.
However, setting the clearQueueOnEnter argument to False will cause interpreter mode to
start executing the statements already in the queue when entering interpreter mode.
clearOnEnd: If True interpreted statements will be cleared when end_interpreter() is
called.
Interpreted statements become part of the running program in the scope from which
interpreter_mode() was called, but are by default removed from the program again when
end_interpreter() is called. However, when entering interpreter mode it is possible to
choose to have a persistent behavior by calling interpreter_mode(clearOnEnd =
False). The interpreted statements will in that case be a part of the program until the end of
program execution, thus they can be called/accessed in subsequent calls to interpreter_
mode().
Example statement:
• interpreter_mode()
• Starts interpreter mode with default behavior.
• interpreter_mode(clearQueueOnEnter = False)
• Starts interpreter mode by interpreting and executing the statements already in the
interpreter queue.

Important: It is the programmers responsibility to implement the synchronization necessary to

ensure that the program is in the wanted interpreter mode, and that it is ready to receive the
statements. It is insufficient to detect if interpreter mode is running, as multiple interpreter
mode can exist in the same program.

Script Manual 19 e-Series

 12. Interpreter Mode

12.3. End Interpreter Mode

end_interpreter()

Ends the interpreter mode, and causes the interpreter_mode() function to return. This
function can be compiled into the program by sending it to the interpreter socket(30020) as any
other statement, or can be called from anywhere else in the program.
By default everything interpreted will be cleared when ending, though the state of the robot, the
modifications to local variables from the enclosing scope, and the global variables will remain
affected by any changes made. The interpreter thread will be idle after this call.

12.4. Clear Interpreter Mode

clear_interpreter()
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Clears all interpreted statements, objects, functions, threads, etc. generated in the current
interpreter mode. Threads started in current interpreter session will be stopped, and deleted.
Variables defined outside of the current interpreter mode will not be affected by a call to this
function.
Only statements interpreted before the clear_interpreter() function will be cleared.
Statements sent after clear_interpreter() will be queued. When cleaning is done, any
statements queued are interpreted and responded to. Note that commands such as abort,
skipbuffer and state commands are executed as soon as they are received.
Note: This function can only be called from an interpreter mode.
Tip: To expedite the clean, skipbuffer can be sent right before clear_interpreter().

12.5. Aborting Current Function

abort

The interpreter mode offers a mechanism to abort limited number of script functions, even if
they are called from the main program. Currently only movej and movel can be aborted.
Aborting a movement will result in a controlled stop if no blend radius is defined.
If a blend radius is defined then a blend with the next movement will be initiated right away if
not already in an initial blend, otherwise the command is ignored.
Return value should be ignored
Note: abort must be sent in a line by itself, and thus cannot be combined with other
commands or statements.

e-Series 20 Script Manual

12. Interpreter Mode

12.6. Skip Non Executed Statements

skipbuffer

The interpreter mode furthermore supports the opportunity to skip already sent but not
executed statements. The interpreter thread will then (after finishing the currently executing
statement) skip all received but not executed statements.
After the skip, the interpreter thread will idle until new statements are received. skipbuffer
will only skip already received statements, new statements can therefore be send right away.
Return value should be ignored
Note: skipbuffer must be sent in a line by itself, and thus cannot be combined with other
commands or statements.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

12.7. State Commands for Interpreter Mode
The state commands that can be used to get a status from interpreter mode are listed here. When
the state commands below responds with an id, it is the id given in the ackownlegde message at
the time the statement was recevied by the interpreter.
Note that these ids start at 1 and might wrap around to 1 in very long running programs. A 0
represents an uninitialized or undefined value, such as the last executed statement if none has
been executed yet.

statelastexecuted
Replies with the largest id of a statement that has started being executed.
state: <id>: statelastexecuted

statelastinterpreted
Replies with the latest interpreted id, i.e. the highest number of interpreted statement so far.
state: <id>: statelastinterpreted

statelastcleared
Replies with the id for the latest statement to be cleared from the interpreter mode. This clear
can happen when ending interpreter mode, or by calls to clear_interpreter()
state: <id>: statelastcleared

Script Manual 21 e-Series

 12. Interpreter Mode

stateunexecuted
Replies with the number of non executed statements, i.e. the number of statements that would
have be skipped if skipbuffer was called instead.
state: <#unexecuted>: stateunexecuted

12.8. Interpreter mode log files

Statements acknowledged by the interpreter mode are logged to the file
/tmp/log/urcontrol/interpreter.log. The file contains basic information on when the log
was started, and for each statement a line:
e: <id_e> c: <id_a> : <statement>
Where <id_e> is the last statement for which execution has started when the statement
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

<statement> with id <id_a> was compiled into the program. To avoid filling the memory of the
robot, the logfile is cleaned up according to the following rules:
1. If the interpreter mode was entered with the parameter clearOnEnd=False, all statements in
the interpreter mode are appended to the file
/tmp/log/urcontrol/interpreter.saved.log when end_interpreter() is called.
2. Any other call to end_interpreter() or clear_interpreter() will cause the log to be moved to
/tmp/log/urcontrol/interpreter.0.log overwriting any data previously stored
there.

All interpreter mode log files are included in failure report files.

e-Series 22 Script Manual

13. Module motion

13. Module motion

This module contains functions and variables built into the URScript programming language.
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).

13.1. Functions

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.1. 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)

Script Manual 23 e-Series

 13. Module motion

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.2. encoder_enable_pulse_decode(encoder_index, decoder_

type, A, B)

Sets up an encoder hooked up to the pulse decoder of the controller.

>>> encoder_enable_pulse_decode(0,0,1,8,9)
This example shows how to set up encoder 0 for 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.

e-Series 24 Script Manual

13. Module motion

13.1.3. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

(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]

13.1.4. encoder_get_tick_count(encoder_index, opt="")

Returns the filtered tick count of the designated encoder.

>>> encoder_get_tick_count(0)
This example returns the current filtered tick count of encoder 0.
Parameters
encoder_index: Index of the encoder to query. Must be either 0 or 1.
opt: Optional option parameter. Default is opt="". Get the raw unfiltered integer value by
opt="raw".
Return Value
The filtered conveyor encoder tick count (float) or the raw value (int32)
Example command 1: encoder_get_tick_count(0)
This example returns the current filtered tick count of encoder 0.
Use caution when subtracting encoder tick counts as it wraps around when reaching the
maximum count value. The range of the filtered encoder value is [0; 65536[.
Please see the function encoder_unwind_delta_tick_count.

Script Manual 25 e-Series

 13. Module motion

Example command 2: encoder_get_tick_count(1, opt="raw")

This example returns the current raw tick count of encoder 1.
Use caution when subtracting encoder tick counts.
The range of the raw encoder value is [-2³¹, 2³¹[.

13.1.5. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

13.1.6. 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).

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13. Module motion

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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Return Value
The unwound delta_tick_count (float)

13.1.7. end_force_mode()

Resets the robot mode from force mode to normal operation.

This is also done when a program stops.

13.1.8. end_freedrive_mode()

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

13.1.9. end_screw_driving()

Exit screw driving mode and return to normal operation.

13.1.10. end_teach_mode()

Deprecated:
Set robot back in normal position control mode after teach mode.

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This function is replaced by end_freedrive_mode and it should therefore not be used

moving forward.

13.1.11. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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: 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.

13.1.12. 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:

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• 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.13. 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 decelerate 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).

13.1.14. 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).

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 13. Module motion

13.1.15. freedrive_mode (freeAxes=[1, 1, 1, 1, 1, 1], feature=p[0, 0, 0,

0, 0, 0])

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.
The default parameters enables the robot to move freely in all directions. It is possible to
enable Constrained Freedrive by providing user specific parameters.
Parameters
freeAxes: A 6 dimensional vector that contains 0’s and 1’s, these indicates in which axes
movement is allowed. The first three values represents the cartesian directions along x, y, z,
and the last three defines the rotation axis, rx, ry, rz. All relative to the selected feature.
feature: A pose vector that defines a freedrive frame relative to the base frame. For base
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

and tool reference frames predefined constants "base", and "tool" can be used in place of pose
vectors.
Example commands:
• freedrive_mode()
• Robot can move freely in all directions.
• freedrive_mode(freeAxes=[1,0,0,0,0,0], feature=p
[0.1,0,0,0,0.785])
• Example Parameters:
• freeAxes = [1,0,0,0,0,0] -> The robot is compliant in the x direction
relative to the feature.
• feature = p[0.1,0,0,0,0.785] -> This feature is offset from the base
frame with 100 mm in the x direction and rotated 45 degrees in the rz
direction.
• freedrive_mode(freeAxes=[0,1,0,0,0,0], feature="tool")
• Example Parameters:
• freeAxes = [0,1,0,0,0,0] -> The robot is compliant in the y direction
relative to the "tool" feature.
• feature = "tool" -> The "tool" feature is located in the active TCP.

Note: Immediately before entering freedrive mode, avoid:

• movements in the non-compliant axes
• high acceleration in freedrive mode
• high deceleration in freedrive mode

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High acceleration and deceleration can both decrease the control accuracy and cause
protective stops.

13.1.16. freedrive_mode_no_incorrect_payload_check()

This method, like teach_mode() and freedrive_mode(), changes the robot mode to teach mode,
but this function does not check for an incorrect payload during the initial state change, nor if
the payload is updated during freedrive. For this reason, it is exceedingly important for users to
be certain the payload is correct.
It is possible for the user to exit teach mode/freedrive in the usual manner, using: end_teach_
mode() or end_freedrive_mode()

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.17. 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.

13.1.18. get_freedrive_status()

Returns status of freedrive mode for current robot pose.

Constrained freedrive usability is reduced near singularities. Value returned by this function
corresponds to distance to the nearest singularity.
It can be used to advice operator to follow different path or switch to unconstrained freedrive.
Return Value
• 0 - Normal operation.
• 1 - Near singularity.
• 2 - Too close to singularity. High movement resistance in freedrive.

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

13.1.20. get_target_tcp_speed_along_path()

Query the target TCP speed as given by the trajectory being followed.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

This script function is useful in conjunction with 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

13.1.21. 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)

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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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• mode = 1 → use fixed orientation relative to tangent of circular arc

13.1.22. 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)

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 13. Module motion

• 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.23. 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.

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13.1.24. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• 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.

13.1.25. 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)

13.1.26. 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.

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 13. Module motion

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.
Using Path offset at the same time as Conveyor Tracking and/or Force can lead to program
conflict. Do not use this function togther with Conveyor Tracking and/or Force.

13.1.27. path_offset_get(type)

Query the offset currently applied.

Parameters
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

13.1.28. path_offset_set(offset, type)

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

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13. Module motion

>>> 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

4: (WORLD) This can be used to follow a trajectory in world (inertial) space, while the base
coordinate system of the robot is being translated and/or rotated by something external, e.g. a
mobile robot or another robot arm. The offset is thus the pose of the robot base relative to the
world coordinate system, and it is also the world coordinate system which the commanded
trajectory should be understood relative to.

13.1.29. path_offset_set_alpha_filter(alpha)

Engage offset filtering using a simple alpha filter (EWMA) and set the filter coefficient.
When applying an offset, it must have a smooth velocity profile in order for the robot to be able
to follow the offset trajectory. This can potentially be cumbersome to obtain, not least as offset
application starts, unless filtering is applied.
The alpha filter is a very simple 1st order IIR filter using a weighted sum of the commanded
offset and the previously applied offset: filtered_offset= alpha*offset+ (1-alpha)*filtered_offset.
See more details and examples in the UR Support Site: Modify Robot Trajectory
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.
The necessary alpha value will depend on robot calibration, robot mounting, payload mass,
payload center of gravity, TCP offset, robot position in workspace, path offset rate of change
and underlying motion.

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 13. Module motion

13.1.30. 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.

13.1.31. pause_on_error_code(code, argument)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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, 3)
In the above example, the robot will pause on errors with code 173 if its argument equals 3
(corresponding to ’C173A3’ 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:
• This script command currently only supports error codes 173 and 174.
• Error codes appear in the log as CxAy where 'x' is the code and 'y' is the argument.

13.1.32. 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)

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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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Threshold = 0.8 80% of deviation that causes a protective stop causes a warning
to be logged in the log history file.

13.1.33. 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.

13.1.34. 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

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 13. Module motion

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

>>> # (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

13.1.35. 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]

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13. Module motion

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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

13.1.36. 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)

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 13. Module motion

• 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]

13.1.37. set_conveyor_tick_count(tick_count, absolute_encoder_

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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)

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13.1.38. 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

13.1.39. set_safety_mode_transition_hardness(type)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

13.1.40. 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)

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• 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

13.1.41. speedl(xd, a, t, aRot=’a’)

Cartecian velocity control

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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Parameters
xd: tool speed [m/s] (spatial vector)
a: tool positional acceleration [m/s^2]
t: time [s] before function returns (optional)
aRot: tool rotational 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 m/s^2 -> acceleration of the tool
• t = 0.5 s -> time before the function returns

13.1.42. 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

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13.1.43. 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.

13.1.44. stopl(a, aRot=’a’)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

13.1.45. teach_mode()

Deprecated:
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.
Deprecated:
This function is replaced by freedrive_mode and it should therefore not be used moving
forward.

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13.1.46. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.).

13.1.47. 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

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13. Module motion

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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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14. Module internals

14.1. Functions
14.1.1. 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 Newton (float)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Note: Refer to force_mode() for taring the sensor.

14.1.2. 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]

14.1.3. 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

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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.

14.1.4. 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]

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

14.1.5. 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]

14.1.6. 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]

14.1.7. get_actual_tool_flange_pose()

Returns the current measured tool flange pose

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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.

14.1.8. get_controller_temp()

Returns the temperature of the control box

The temperature of the robot control box in degrees Celcius.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Return Value
A temperature in degrees Celcius (float)

14.1.9. 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.

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14.1.10. 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 is 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

14.1.11. 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.
Parameters
pose: tool pose
qnear: list of joint positions (Optional)
maxPositionError: the maximum allowed position error (Optional)

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 14. Module internals

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)

14.1.12. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

j: The joint number (int)

Return Value
A temperature in degrees Celcius (float)

14.1.13. 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]

14.1.14. 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

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14. Module internals

14.1.15. 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]

14.1.16. get_target_joint_speeds()

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

14.1.17. get_target_payload()

Returns the weight of the active payload

Return Value
The weight of the current payload in kilograms

14.1.18. 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

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 14. Module internals

14.1.19. get_target_payload_inertia()

Returns the most recently set payload inertia matrix.

This script function returns the inertia matrix of the active payload in tool flange coordinates,
with origin at the CoG.
Return Value
The six dimensional coordinates of the payload inertia matrix [Ixx, Iyy, Izz, Ixy, Ixz, Iyz]
expressed in kg*m^2.

14.1.20. get_target_tcp_pose()

Returns the current target tool pose

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

14.1.21. 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)

14.1.22. 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.

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14. Module internals

Return Value
The desired waypoint TCP vector [X, Y, Z, Rx, Ry, Rz]

14.1.23. get_tcp_force()

Returns the force/torque vector at the tool flange.

The function returns p[Fx(N), Fy(N), Fz(N), TRx(Nm), TRy(Nm), TRz(Nm)] where the forces: Fx,
Fy, and Fz in Newtons and the torques: TRx, TRy and TRz in Newtonmeters are all measured at
the tool flange with the orientation of the robot base coordinate system.
Return Value
The force/torque vector

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Note:
Refer to zero_ftsensor() for taring sensor.
Example:
def get_wrench_at_tool_flange():
ft = get_tcp_force()
t_flange_in_base

= pose_trans(get_target_tcp_pose(), pose_inv(get_tcp_offset()))
flange_rot = pose_inv(p[0, 0, 0, t_flange_in_base[3], t_flange_in_base
[4], t_flange_in_base[5]])
f = pose_trans(flange_rot, p[ft[0], ft[1], ft[2], 0, 0, 0])

t = pose_trans(flange_rot, p[ft[3], ft[4], ft[5], 0, 0, 0])

return [f[0], f[1], f[2], t[0], t[1], t[2]]

end
def get_wrench_at_tcp():
return wrench_trans(get_tcp_offset(), get_wrench_at_tool_flange
())

end

14.1.24. get_tcp_offset()

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

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 14. Module internals

Return Value
tcp offset pose

14.1.25. 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).
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

14.1.26. get_tool_current()

Returns the tool current

The tool current consumption measured in ampere.
Return Value
The tool current in ampere.

14.1.27. is_steady()

The function will return true when the robot has been standing still with zero target velocity for
500ms
When the function returns true, the robot is able to adapt to large external forces and torques,
e.g. from screwdrivers, without issuing a protective stop.
Return Value
True when the robot able to adapt to external forces, false otherwise (bool)

14.1.28. 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.

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14. Module internals

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.

14.1.29. popup(s, title=’Popup’, warning=False, error=False,

blocking=False)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

14.1.30. powerdown()

Shut down the robot, and power off the robot and controller.

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 14. Module internals

14.1.31. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

9.82 m/s^2 (1g).

14.1.32. set_payload(m, cog)

Parameters
m: mass in kilograms
cog: Center of Gravity, a vector [CoGx, CoGy, CoGz] specifying the displacement (in meters)
from the toolmount.
Deprecated: See set_target_payload to set mass, CoG and payload inertia matrix at the same
time.
Set payload mass and center of gravity while resetting payload inertia matrix
Sets the mass and center of gravity (abbr. CoG) of the payload.
This function must be called, when the payload mass or mass CoG offset changes - i.e. when
the robot picks up or puts down a workpiece.
Note: The force torque measurements are automatically zeroed when setting the payload. That
ensures the readings are compensated for the payload. This is similar to the behavior of zero_
ftsensor()
Warnings:
• This script is deprecated since SW 5.10.0 because of the risk of inconsistent payload
parameters. Use the set_target_payload instead to set mass, CoG and inertia
matrix.

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14. Module internals

• Omitting the cog parameter is not recommended. 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.
• Using this script function to modify payload parameters will reset the payload inertia
matrix.

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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

14.1.33. set_payload_cog(CoG)

Deprecated: See set_target_payload to set mass, CoG and payload inertia matrix at the
same time.
Set the Center of Gravity (CoG) and reset payload inertia matrix
Warning: Using this script function to modify payload parameters will reset the payload inertia
matrix.
Note: The force torque measurements are automatically zeroed when setting the payload. That
ensures the readings are compensated for the payload. This is similar to the behavior of zero_
ftsensor()

14.1.34. set_payload_mass(m)

Parameters
m: mass in kilograms
Deprecated: See set_target_payload to set mass, CoG and payload inertia matrix at the
same time.

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 14. Module internals

Set payload mass and reset payload inertia matrix

See also set_payload.
Sets the mass of the payload and leaves the center of gravity (CoG) unchanged.
Note: The force torque measurements are automatically zeroed when setting the payload. That
ensures the readings are compensated for the payload. This is similar to the behavior of zero_
ftsensor()
Warnings:
• This script is deprecated since SW 5.10.0 because of the risk of inconsistent payload
parameters. Use the set_target_payload instead to set mass, CoG and inertia
matrix.
• Using this script function to modify payload parameters will reset the payload inertia
matrix.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

14.1.35. set_target_payload(m, cog, inertia=[0, 0, 0, 0, 0, 0],

transition_time=0)

Sets the mass, CoG (center of gravity), the inertia matrix of the active payload and the transition
time for applying new settings.
This function must be called when the payload mass, the mass displacement (CoG) or the
inertia matrix changes - (i.e. when the robot picks up or puts down a workpiece).
Parameters
m: mass in kilograms.
cog: Center of Gravity, a vector with three elements [CoGx, CoGy, CoGz] specifying the offset
(in meters) from the tool mount.
inertia: payload inertia matrix (in kg*m^2), as a vector with six elements [Ixx, Iyy, Izz, Ixy, Ixz,
Iyz] with origin in the CoG and the axes aligned with the tool flange axes.
transition_time: the duration of the payload property changes in seconds
Notes:
• This script should be used instead of the deprecated set_payload, set_payload_
mass, and set_payload_cog.
• The payload mass and CoG are required, the inertia matrix and transition time are
optional.

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• When inertia matrix is left out, a zero matrix will be used.

• When transition time is left out, the change will be applied instantaneously,
identically to how the deprecated set_payload, set_payload_mass and set_
payload_cog work.
• The maximum value allowed for each of the components of the inertia matrix is +/- 133
kg*m^2. An exception is thrown if limits are exceeded.
• The first three elements of the inertia matrix (i.e. Ixx, Iyy, Izz) cannot be negative. An
exception is thrown if either value is negative.
• The force/torque measurements are automatically zeroed when setting the payload.
That ensures the readings are compensated for the payload. This is similar to the
behaviour of zero_ftsensor().
• Setting a transition time larger than zero avoids the robot doing a small "jump" when
payload changes. This is useful when picking up or releasing heavy objects.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• The internal force/torque sensor in the robot tool is reset each time the payload is
updated. This means that the final reset will be performed at the end of the payload
transition time. If the payload is being accelerated at the time of the final reset, the
force/torque measurement will be affected. It's always recommended to call zero_
ftsensor() to reset the force/torque sensor before using it, e.g. in Force Mode.

14.1.36. 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

14.1.37. sleep(t)

Sleep for an amount of time

Parameters
t: time [s]
Example command: sleep(3.)

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• Example Parameters:
• t = 3. -> time to sleep

14.1.38. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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)

14.1.39. 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.

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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"

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• 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"

14.1.40. 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

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14.1.41. 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).
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

14.1.42. 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.

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Example command:
• str_len("Hello")
• returns 5
• str_len("")
• returns 0

14.1.43. 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

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14.1.44. sync()

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

14.1.45. textmsg(s1, s2=’’)

Send text message to log

Send message with s1 and s2 concatenated to be shown on the PolyScope log-tab.
The PolyScope log-tab is intended for general application status.
It is not recommended to add many messages at a high rate.
Parameters
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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"

14.1.46. 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)

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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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• 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

14.1.47. 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:

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• 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]"

14.1.48. tool_contact(direction)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

14.1.49. 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)

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>>> # 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

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15. Module urmath

15.1. Functions
15.1.1. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

15.1.2. 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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15.1.3. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Returns .785

15.1.4. 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

15.1.5. binary_list_to_integer(l)

Returns the value represented by the content of list l

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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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Returns 9

15.1.6. 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

15.1.7. 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.

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Example command: cos(1.57)

• Example Parameters:
• f is angle of 1.57 rad (90 deg)
• Returns 0.0

15.1.8. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

15.1.9. 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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15.1.10. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Returns 5

15.1.11. 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

15.1.12. 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.

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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]

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• alpha = .5
• Returns p[.2,.2,.5,0,0,0]

15.1.13. 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]

15.1.14. length(v)

Returns the length of a list variable or a string

The length of a list or string is the number of entries or characters it is composed of.
Parameters
v: A list or string variable

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 15. Module urmath

Return Value
An integer specifying the length of the given list or string
Example command: length("here I am")
• Example Parameters:
• v equals string "here I am"
• Returns 9

15.1.15. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

15.1.16. 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

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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

15.1.17. 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.18. 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])

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• 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

15.1.19. 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:
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.20. pose_dist(p_from, p_to)

Pose distance
Parameters
p_from: tool pose (pose)
p_to: tool pose (pose)
Return Value
distance

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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

15.1.21. pose_inv(p_from)

Get the inverse of a pose

Parameters

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.22. 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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15.1.23. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.24. 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)

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15. Module urmath

• Example Parameters:
• Base = 5
• Exponent = 3
• Returns 125.

15.1.25. r2d(r)

Returns radians-to-degrees of r
Returns the degree value of ’r’ radians.
Parameters
r: The angle in radians

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

15.1.26. random()

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

15.1.27. 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

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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

15.1.28. rpy2rotvec(rpy_vector)

Returns rotation vector corresponding to rpy_vector

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

15.1.29. 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)

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15. Module urmath

• Example Parameters:
• f is angle of 1.57 rad (90 deg)
• Returns 1.0

15.1.30. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.31. 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

15.1.32. tan(f)
Returns the tangent of f

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 15. Module urmath

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

15.1.33. transpose(m)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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]

15.1.34. 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

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resulting wrench, w_to in list format [F_x, F_y, F_z, M_x, M_y, M_z]

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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 16. Module interfaces

16. Module interfaces

16.1. Functions
16.1.1. 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 function is impacted:
• force_mode
• screw_driving
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• freedrive_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. 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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16.1.2. 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 function is impacted:
• force_mode
• screw_driving
• freedrive_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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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 set to x=200 mm, y=100 mm,
z=500 mm from the center of the tool flange in tool flange frame
coordinates.

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• ft_rtde_input_enable(True, 0.5)
• Example Parameters:
• enable S{​​rarr}​​ Enabling the feed of an external F/T measurements in
the controller.
• sensor_mass S{​​rarr}​​ mass of F/T sensor is set to 0.5 Kg.
• Both sensor measuring offset and sensor's center of gravity are zero.
• @example:
• C{​​ft_rtde_input_enable(False)}​
​
• Disable the feed of external F/T measurements in the controller (no
other parameters required)

16.1.3. get_analog_in(n)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.4. 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

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16. Module interfaces

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

16.1.5. get_configurable_digital_in(n)

Get configurable digital input signal level

See also get_standard_digital_in and get_tool_digital_in.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.6. get_configurable_digital_out(n)

Get configurable digital output signal level

See also get_standard_digital_outand 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
• R'eturns True or False

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16.1.7. 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)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Example Parameters:
• n is digital input 1
• Returns True or False

16.1.8. 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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16.1.9. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

16.1.10. 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

16.1.11. 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)

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 16. Module interfaces

• Example Parameters:
• n is standard analog output 1
• Returns value of standard analog output #1

16.1.12. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

boolean, The signal level.

Example command: get_standard_digital_in(1)
• Example Parameters:
• n is standard digital input 1
• Returns True or False

16.1.13. 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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16. Module interfaces

16.1.14. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Returns value of tool analog input #1

16.1.15. 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

16.1.16. 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

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 16. Module interfaces

boolean, The signal level.

Example command: get_tool_digital_out(1)
Example Parameters:
n is tool digital out 1
Returns True or False

16.1.17. modbus_add_signal(IP, slave_number, signal_address,

signal_type, signal_name, sequential_mode=False, register_
count=1)

Adds a new modbus signal for the controller to supervise. Expects no response. If the signal is
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

an output type, then until the first set_output_signal/register() command the function code will
be 2/3, after the call it will switch to 15/16.
Matrix of function codes used for accessing coils or discrete inputs:

Read Write
Signal type Single Multiple Single Multiple
Coil Coils Coil Coils
0 = Digital input 2 2 - -
1 = Digital output 1 1 15 15
15 = Multiple digital 1 1 15 15
outputs

Matrix of function codes used for accessing coils or discrete inputs:

Read Write
Signal type Single Multiple Single Multiple
register registers register registers
2 = Register input 4 4 - -
3 = Register output 3 3 6 16
16 = Multiple register 3 3 16 16
outputs

>>> 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. The IP can not be empty.
Note: Numerical IP addresses are recommended. DNS name resolution may lead to
unexpected program stops.

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16. Module interfaces

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. The value must be greater or equal to 0.
signal_type: An integer specifying the type of signal to add. 0 = digital input, 1 = digital
output, 2 = register input, 3 = register output, 15 = multiple digital output, 16 = multiple register
output. Note: this function does not accept 23 = multiple read-write signal type.
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 can not
exceed 20 characters. The signal name cannot be empty.
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).

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

register_count: Number of registers/coils accessed by the signal [1-123] (Optional, the
default value is 1).
Example command 1: 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

Example command 2: modbus_add_signal("172.140.17.11", 255, 5, 16,

"output2", False, 10)
• Example Parameters:
• IP address = 172.140.17.11
• Slave number = 255
• Signal address = 5
• Signal type = 16 multiple register output
• Signal name = output 2
• sequential_mode = False
• register_count = 10

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 16. Module interfaces

16.1.18. modbus_add_rw_signal(IP, slave_number, read_address,

read_register_count, write_address, write_register_count, signal_
name, sequential_mode=False)

Adds a new modbus signal for the controller to supervise. This function will use the function
code 23. The read and write addresses can overlap. Until the first set_output_register()
command the function code will be 3, after the call it will switch to 23.
>>> modbus_add_rw_signal("172.140.17.11", 255, 5, 10, 15, 10,
"output1")
Parameters
IP: A string specifying the IP address of the modbus unit to which the modbus signal is
connected. The IP can not be empty.
slave_number: An integer normally not used and set to 255, but is a free choice between 0
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

and 255.
read_address: An integer specifying the address of the first register that this new signal
should read from.
read_register_count: Number of registers to read [1-123].
write_address: An integer specifying the address of the first register that this new signal
should write to.
write_register_count: Number of registers to write [1-123].
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 can not
exceed 20 characters. The signal name cannot be empty.
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_rw_signal("172.140.17.11", 255, 5, 10, 15,
10 "output1")
This example will create a signal that cyclically reads 10 registers from addresses 5-14, an
writes 10 registers to addresses 10-19 Signal will use Function Code 3 to read register until first
time modbus_set_register_output(...) is called. Afterwards Function Code 23 will be used to
both read and write registers in remote device.
• Example Parameters:
• IP address = 172.140.17.11
• Slave number = 255
• Signal read address = 5
• Signal read register count = 10

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16. Module interfaces

• Signal write address = 15

• Signal write register count = 10
• Signal name = output 1

16.1.19. 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. The signal
name can not be empty.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Example command: modbus_delete_signal("output1")
• Example Parameters:
• Signal name = output1

16.1.20. modbus_get_signal_status(signal_name, is_secondary_

program=False)

Reads the current value(s) of a specific signal. If the modbus watchdog is active, this will return
the last valid value(s). No error will be thrown within the watchdog time. If needed, the modus_
get_error() or the modbus_get_time_since_signal_invalid() can be used to detected that the
signal is in an error state before the watchdog expires.
>>> 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.
Can not be empty.
is_secondary_program: A boolean for internal use only. Must be set to False. (Optional,
default is 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. If the signal was declared to have access for multiple
registers/coild, then the return value will be an array of unsigned integers / booleans. The
length of the returned array is equal to the register_count of the signal.
Example command: modbus_get_signal_status("output1")
Example Parameters:

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 16. Module interfaces

• Signal name = output 1

• Is_secondary_program = False by default

16.1.21. 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,
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

>>> [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

16.1.22. modbus_set_digital_input_action(signal_name, action)

Sets the selected digital input signal to either a "default" or "freedrive" action.

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16. Module interfaces

>>> 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"

16.1.23. modbus_set_output_register(signal_name, register_value,

is_secondary_program)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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)

16.1.24. 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.

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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)

16.1.25. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

>>> 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 0-125 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

16.1.26. modbus_get_error(signal_name)

Returns the current error state of the signal.

>>> modbus_get_error("output1")
Parameters
signal_name: A string equal to the name of the signal. The signal name can not be empty.
error_source: Selects the type of the returned error. Integer, 0 = combined, 1 = device error,
2 = connection error (Optional, default is 0 = combined)
Return Value
32 bit integer
0 = No error, Device errors
1 = Device error - illegal function code
2 = Device error - illegal data access

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16. Module interfaces

3 = Device error - illegal data value

4 = Device error - server failure
5 = Device error - acknowledge exception
6 = Device error - server busy
10 = Device error - gateway problem
11 = Device error - gateway target failure
Connection errors
Values from 1-113, see details in https://en.wikipedia.org/wiki/Errno.h and
https://www.ibm.com/docs/en/db2/11.5?topic=message-tcpip-errors

NOTICE
If combined errors are requested, then the returned value's upper 2 bytes will

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

store the connection error, the lower 2 bytes will store the device errors.
Example returned value: 0xFFFE0004 (dec:-131068) -> upper 0xFFFE = -2
Disconnected ; lower 0x0004 = Device error - server failure

Example command: modbus_get_error("output1")

• Example Parameters:
• Signal name = output1

16.1.27. modbus_get_time_since_signal_invalid(signal_name)

Returns the time in seconds since the signal is invalid (has communication or device error).For
input signals function tells how long ago was last time when signal value was successfully
read from remote device. For output signals function tells how long ago was last time when
signal value was successfully written to remote device.
>>> modbus_get_time_since_signal_invalid("output1")
Parameters
signal_name: A string equal to the name of the signal. The signal name can not be empty.
Return Value
A float number representing the time in seconds since the signal is in a communication or
device error.
Example command: modbus_get_time_since_signal_invalid("output1")
• Example Parameters:
• Signal name = output1

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16.1.28. modbus_request_update_signal_value(signal_name)

Request an update of the signal regardless of the used frequency.

>>> modbus_request_update_signal_value("output1")
Parameters
signal_name: A string equal to the name of the signal. The signal name can not be empty.
Example command: modbus_request_update_signal_value("output1")
• Example Parameters:
• Signal name = output1

16.1.29. modbus_reset_connection(connection_id, is_

blocking=True)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Tear down, and reconnect all signals to remote device. By default it will block as long as there
are errors in the connection.
>>> modbus_reset_connection("172.140.17.11")
Parameters
connection_id: A string specifying the IP address of the modbus unit to which the modbus
signal is connected. The IP can not be empty.
Example command: modbus_reset_connection("172.140.17.11")
Example Parameters:
• connection_id = 172.140.17.11
• is_blocking = True

16.1.30. modbus_set_signal_watchdog(signal_name, new_timeout_

in_sec)

Set tolerance for modbus errors (both communication, and device exceptions) as minimum
time between valid device responses. No error will be thrown within the watchdog time. If
needed, the modus_get_error() or the modbus_get_time_since_signal_invalid() can be used to
detected that the signal is in an error state before the watchdog expires.Default signal timeout
is 2 seconds.
>>> modbus_set_signal_watchdog("signal1", 5)
Parameters

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signal_name: A string identifying an output digital signal that in advance has been added.
Can not be empty.
new_timeout_in_sec: A number in range 0-300 representing seconds.
Example command: modbus_set_signal_watchdog("signal1", 10.5)
Example Parameters:
• signal_name = signal1
• new_timeout_in_sec = 10.5 seconds

16.1.31. read_input_boolean_register(address)

Reads the boolean from one of the input registers, which can also be accessed by a Field bus.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.32. 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)

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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

16.1.33. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.34. 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.

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>>> bool_val = read_output_boolean_register(3)

Example command: read_output_boolean_register(3)
• Example Parameters:
• Address = output boolean register 3

16.1.35. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.36. 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)

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• Example Parameters:
• Address = output integer register 3

16.1.37. 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)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Example command: read_port_bit(3)

• Example Parameters:
• Address = port bit 3

16.1.38. 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

16.1.39. 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

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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 ...).

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.40. 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.

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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

16.1.41. 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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

16.1.42. 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)

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• Example Parameters:
• n is standard analog output port 1
• f = 0.5, that corresponds to 5V (or 12mA depending on domain setting) on the
output port

16.1.43. 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]

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

b: The signal level. (boolean)
Example command: set_configurable_digital_out(1,True)
• Example Parameters:
• n is configurable digital output 1
• b = True

16.1.44. 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

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16.1.45. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

16.1.46. 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

16.1.47. 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)

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• Example Parameters:
• n is standard digital output 1
• f = True

16.1.48. set_tool_digital_out(n, b)

Set tool digital output signal level

See also set_configurable_digital_out and set_standard_digital_out.
Parameters
n: The number (id) of the output, integer: [0:1]
b: The signal level. (boolean)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Example command: set_tool_digital_out(1,True)
• Example Parameters:
• n is tool digital output 1
• b = True

16.1.49. set_tool_communication(enabled, baud_rate, parity, stop_

bits,

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

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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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• tx idle time = 3.5

16.1.50. set_tool_digital_output_mode (n, mode)

Sets the output mode of the 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 sources current when it is set to 1.
The pin is high impedance when it is set to 0.

16.1.51. set_tool_output_mode (mode)

Sets the tool digital output mode.

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Parameters
Mode: 1=power (dual pin) mode.
Example command: set_tool_output_mode(1)
• Example Parameters:
• 1 is the power (dual pin) mode.
The digital outputs are used as extra supply

16.1.52. 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.53. 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

16.1.54. 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

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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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

16.1.55. 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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16.1.56. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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 (length=number+1, list of floats)
• 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

16.1.57. 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)

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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 (length=number+1, list of ints)
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

16.1.58. socket_read_byte_list(number, socket_name=’socket_0’,

timeout=2)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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 (length=number+1, list of ints)
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

16.1.59. 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.

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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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

16.1.60. 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.

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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)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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="<")

16.1.61. 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)

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16.1.62. 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:

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• value = 2
• socket_name = socket_10
• Returns True or False (sent or not sent)

16.1.63. 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)

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16.1.64. 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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Example Parameters:
• str = hello
• socket_name = socket_10
• Returns True or False (sent or not sent)

16.1.65. 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

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16.1.66. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Example Parameters:
• address = 3
• value = True

16.1.67. 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

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16.1.68. 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)
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• Example Parameters:
• address = 3
• value = 12

16.1.69. 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

16.1.70. 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" )

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16. Module interfaces

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

16.1.71. zero_ftsensor()

Zeroes the TCP force/torque measurement from the builtin force/torque sensor by subtracting
the current measurement from the subsequent.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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17. Module ioconfiguration

17.1. Functions
17.1.1. modbus_set_runstate_dependent_choice(signal_name,
runstate_choice)

Sets the output signal levels depending on the state of the program.
Parameters
signal_name:
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

17.1.2. set_analog_outputdomain(port, domain)

Set domain of analog outputs

Parameters
port: analog output port number

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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)

17.1.3. 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:

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• 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

17.1.4. 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:

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 17. Module ioconfiguration

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

17.1.5. set_input_actions_to_default()
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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()

17.1.6. set_runstate_configurable_digital_output_to_value(outputId,
state)

Sets the output signal levels depending on the state of the program (running or stopped).
Example: Set configurable digital output 5 to high when program is not running.
>>> 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,

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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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

17.1.7. set_runstate_gp_boolean_output_to_value(outputId, state)

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

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 17. Module ioconfiguration

• Example Parameters:
• outputid = output on port 64
• Runstate choice = 2 ! sets signal on port 64 to True when program is not running

17.1.8. set_runstate_standard_analog_output_to_value(outputId,
state)

Sets the output signal levels depending on the state of the program (running or stopped).
Example: Set standard analog output 1 to high when program is not running.
>>> set_runstate_standard_analog_output_to_value(1, 2)
Parameters
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

17.1.9. set_runstate_standard_digital_output_to_value(outputId,
state)

Sets the output signal level depending on the state of the program (running or stopped).
Example: Set standard digital output 5 to high when program is not running.

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>>> 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.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

17.1.10. set_runstate_tool_digital_output_to_value(outputId, state)

Sets the output signal level depending on the state of the program (running or stopped).
Example: Set tool digital output 1 to high when program is not running.
>>> set_runstate_tool_digital_output_to_value(1, 2)
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,

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 17. Module ioconfiguration

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

17.1.11. set_standard_analog_input_domain(port, domain)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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)

17.1.12. 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)

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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

17.1.13. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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)

17.1.14. 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")

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 17. Module ioconfiguration

• Example Parameters:
• n is the tool digital input register 0
• f is set to "freedrive" action

17.1.15. set_baselight_off()

NOTICE
Only applies to UR20

Turns off the baselight completely.

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

17.1.16. set_baselight_iec()

NOTICE
Only applies to UR20

Make the baselight comply to the IEC 60204-1 standard and indicate whether the robot is in a
safety stop, in freedrive as well as the operational mode. Further details of the colors can be
seen in the UR20 manual.

17.1.17. set_baselight_solid(r,g,b)

NOTICE
Only applies to UR20

Set a color on the entire baselight ring as specified by the given RGB values in the range 0-255.

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18. Module processpath

18. Module processpath

18.1. 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 functions 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

argument ‘mode’ when using this function.

18.2. Functions
18.2.1. 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

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 18. Module processpath

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
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

18.2.2. 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 (continued in )

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18. Module processpath

18.2.3. 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)

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

• 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

18.2.4. 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()

18.2.5. 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

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 18. Module processpath

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.
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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

18.2.6. 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)

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18. Module processpath

• Example Parameters:
• nc_file = /programs/path.nc → the file that contains GCode is /programs/path.nc
• useFeedRate = True → use the feedrate from .nc file

18.2.7. 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

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

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.

18.2.8. 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.

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 18. Module processpath

18.2.9. 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

18.3. Examples
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Examples on using the Remote TCP and Toolpath Application.

18.3.1. Example 1 - Executing a remote TCP path

# 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 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()

e-Series 138 Script Manual

18. Module processpath

18.3.2. 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)
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()

18.3.3. Example 3 - Executing a path and set digital output

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

# 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)

Script Manual 139 e-Series

 18. Module processpath

18.4. myToolPathFile.nc
%PM0
N10 G74 Z-5. L1
N20 G7
N30 G54
N40 ; Operation 1
N50 S1000 T1 M6 ; (Bull Mill, Diameter: 10, Flute Length: 25,
; Shoulder Length: 40, Overall Length: 40, Length including Holder: 40,
; Corner Radius: 2, Corner Radius Type: Corner)
N60 M3
N70 G74 Z-5. L1
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N80 G54 I0
N90 G7
N100 M8
N110 G01 X-39.5178 Y-0.0003 Z24.9995 C0.0000 B0.0000 F1500
N120 G01 X-38.2246 Y-1.9469 Z24.9995 C0.0000 B0.0000 F1500
N130 G01 X-36.9313 Y-3.8934 Z24.9995 C0.0000 B0.0000 F1500
N140 G01 X-35.6381 Y-5.8400 Z24.9995 C0.0000 B0.0000 F1500
N150 G01 X-34.3448 Y-7.7866 Z24.9995 C0.0000 B0.0000 F1500
N160 G01 X-33.0515 Y-9.7332 Z24.9995 C0.0000 B0.0000 F1500
N170 G01 X-31.7583 Y-11.6798 Z24.9995 C0.0000 B0.0000 F1500
N180 G01 X-30.4650 Y-13.6264 Z24.9995 C0.0000 B0.0000 F1500
N190 G01 X-29.1718 Y-15.5729 Z24.9995 C0.0000 B0.0000 F1500
N200 G01 X-27.8785 Y-17.5195 Z24.9995 C0.0000 B0.0000 F1500
N210 G01 X-26.5853 Y-19.4661 Z24.9995 C0.0000 B0.0000 F1500
N220 G01 X-25.2920 Y-21.4127 Z24.9995 C0.0000 B0.0000 F1500
N230 G01 X-23.9988 Y-23.3593 Z24.9995 C0.0000 B0.0000 F1500
N240 G01 X-22.7055 Y-25.3059 Z24.9995 C0.0000 B0.0000 F1500
N250 G01 X-21.4123 Y-27.2524 Z24.9995 C0.0000 B0.0000 F1500
N260 G01 X-20.1190 Y-29.1990 Z24.9995 C0.0000 B0.0000 F1500
N270 G01 X-18.8258 Y-31.1456 Z24.9995 C0.0000 B0.0000 F1500
N280 G01 X-17.5325 Y-33.0922 Z24.9995 C0.0000 B0.0000 F1500
N290 G01 X-16.2393 Y-35.0388 Z24.9995 C0.0000 B0.0000 F1500
N300 G01 X-14.9460 Y-36.9854 Z24.9995 C0.0000 B0.0000 F1500

e-Series 140 Script Manual

18. Module processpath

N310 G01 X-13.6527 Y-38.9319 Z24.9995 C0.0000 B0.0000 F1500

N320 G01 X-12.3595 Y-40.8785 Z24.9995 C0.0000 B0.0000 F1500
N330 G01 X-11.0662 Y-42.8251 Z24.9995 C0.0000 B0.0000 F1500
N340 G01 X-9.7730 Y-44.7717 Z24.9995 C0.0000 B0.0000 F1500
N350 G01 X-8.4797 Y-46.7183 Z24.9995 C0.0000 B0.0000 F1500
N360 G01 X-7.1865 Y-48.6649 Z24.9995 C0.0000 B0.0000 F1500
N370 G01 X-5.1870 Y-47.5105 Z24.9995 C0.0000 B0.0000 F1500
N380 G01 X-3.1876 Y-46.3561 Z24.9995 C0.0000 B0.0000 F1500
N390 G01 X-1.1882 Y-45.2017 Z24.9995 C0.0000 B0.0000 F1500
N400 G01 X0.8113 Y-44.0473 Z24.9995 C0.0000 B0.0000 F1500
N410 G01 X2.8107 Y-42.8929 Z24.9995 C0.0000 B0.0000 F1500
N420 G01 X4.8102 Y-41.7385 Z24.9995 C0.0000 B0.0000 F1500

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N430 G01 X6.8096 Y-40.5841 Z24.9995 C0.0000 B0.0000 F1500
N440 G01 X8.8090 Y-39.4297 Z24.9995 C0.0000 B0.0000 F1500
N450 G01 X10.8085 Y-38.2753 Z24.9995 C0.0000 B0.0000 F1500
N460 G01 X12.8079 Y-37.1210 Z24.9995 C0.0000 B0.0000 F1500
N470 G01 X14.8074 Y-35.9666 Z24.9995 C0.0000 B0.0000 F1500
N480 G01 X16.8068 Y-34.8122 Z24.9995 C0.0000 B0.0000 F1500
N490 G01 X18.8062 Y-33.6578 Z24.9995 C0.0000 B0.0000 F1500
N500 G01 X20.8057 Y-32.5034 Z24.9995 C0.0000 B0.0000 F1500
N510 G01 X22.8051 Y-31.3490 Z24.9995 C0.0000 B0.0000 F1500
N520 G01 X24.8046 Y-30.1946 Z24.9995 C0.0000 B0.0000 F1500
N530 G01 X26.8040 Y-29.0402 Z24.9995 C0.0000 B0.0000 F1500
N540 G01 X28.8034 Y-27.8858 Z24.9995 C0.0000 B0.0000 F1500
N550 G01 X30.8029 Y-26.7314 Z24.9995 C0.0000 B0.0000 F1500
N560 G01 X32.8023 Y-25.5770 Z24.9995 C0.0000 B0.0000 F1500
N570 G01 X34.8018 Y-24.4226 Z24.9995 C0.0000 B0.0000 F1500
N580 G01 X34.8018 Y-22.0967 Z24.9995 C0.0000 B0.0000 F1500
N590 G01 X34.8017 Y-19.7707 Z24.9995 C0.0000 B0.0000 F1500
N600 G01 X34.8017 Y-17.4447 Z24.9995 C0.0000 B0.0000 F1500
N610 G01 X34.8017 Y-15.1187 Z24.9995 C0.0000 B0.0000 F1500
N620 G01 X34.8017 Y-12.7927 Z24.9995 C0.0000 B0.0000 F1500
N630 G01 X34.8017 Y-10.4667 Z24.9995 C0.0000 B0.0000 F1500
N640 G01 X34.8017 Y-8.1407 Z24.9995 C0.0000 B0.0000 F1500
N650 G01 X34.8017 Y-5.8148 Z24.9995 C0.0000 B0.0000 F1500

Script Manual 141 e-Series

 18. Module processpath

N660 G01 X34.8017 Y-3.4888 Z24.9995 C0.0000 B0.0000 F1500

N670 G01 X34.8017 Y-1.1628 Z24.9995 C0.0000 B0.0000 F1500
N680 G01 X34.8016 Y1.1632 Z24.9995 C0.0000 B0.0000 F1500
N690 G01 X34.8016 Y3.4892 Z24.9995 C0.0000 B0.0000 F1500
N700 G01 X34.8016 Y5.8152 Z24.9995 C0.0000 B0.0000 F1500
N710 G01 X34.8016 Y8.1412 Z24.9995 C0.0000 B0.0000 F1500
N720 G01 X34.8016 Y10.4672 Z24.9995 C0.0000 B0.0000 F1500
N730 G01 X34.8016 Y12.7931 Z24.9995 C0.0000 B0.0000 F1500
N740 G01 X34.8016 Y15.1191 Z24.9995 C0.0000 B0.0000 F1500
N750 G01 X34.8016 Y17.4451 Z24.9995 C0.0000 B0.0000 F1500
N760 G01 X34.8015 Y19.7711 Z24.9995 C0.0000 B0.0000 F1500
N770 G01 X34.8015 Y22.0971 Z24.9995 C0.0000 B0.0000 F1500
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N780 G01 X34.8015 Y24.4231 Z24.9995 C0.0000 B0.0000 F1500

N790 G01 X32.8021 Y25.5774 Z24.9995 C0.0000 B0.0000 F1500
N800 G01 X30.8026 Y26.7318 Z24.9995 C0.0000 B0.0000 F1500
N810 G01 X28.8031 Y27.8862 Z24.9995 C0.0000 B0.0000 F1500
N820 G01 X26.8037 Y29.0405 Z24.9995 C0.0000 B0.0000 F1500
N830 G01 X24.8042 Y30.1949 Z24.9995 C0.0000 B0.0000 F1500
N840 G01 X22.8048 Y31.3493 Z24.9995 C0.0000 B0.0000 F1500
N850 G01 X20.8053 Y32.5036 Z24.9995 C0.0000 B0.0000 F1500
N860 G01 X18.8058 Y33.6580 Z24.9995 C0.0000 B0.0000 F1500
N870 G01 X16.8064 Y34.8124 Z24.9995 C0.0000 B0.0000 F1500
N880 G01 X14.8069 Y35.9667 Z24.9995 C0.0000 B0.0000 F1500
N890 G01 X12.8075 Y37.1211 Z24.9995 C0.0000 B0.0000 F1500
N900 G01 X10.8080 Y38.2754 Z24.9995 C0.0000 B0.0000 F1500
N910 G01 X8.8085 Y39.4298 Z24.9995 C0.0000 B0.0000 F1500
N920 G01 X6.8091 Y40.5842 Z24.9995 C0.0000 B0.0000 F1500
N930 G01 X4.8096 Y41.7385 Z24.9995 C0.0000 B0.0000 F1500
N940 G01 X2.8102 Y42.8929 Z24.9995 C0.0000 B0.0000 F1500
N950 G01 X0.8107 Y44.0473 Z24.9995 C0.0000 B0.0000 F1500
N960 G01 X-1.1888 Y45.2016 Z24.9995 C0.0000 B0.0000 F1500
N970 G01 X-3.1882 Y46.3560 Z24.9995 C0.0000 B0.0000 F1500
N980 G01 X-5.1877 Y47.5103 Z24.9995 C0.0000 B0.0000 F1500
N990 G01 X-7.1871 Y48.6647 Z24.9995 C0.0000 B0.0000 F1500
N1000 G01 X-8.4804 Y46.7181 Z24.9995 C0.0000 B0.0000 F1500

e-Series 142 Script Manual

18. Module processpath

N1010 G01 X-9.7736 Y44.7716 Z24.9995 C0.0000 B0.0000 F1500

N1020 G01 X-11.0668 Y42.8250 Z24.9995 C0.0000 B0.0000 F1500
N1030 G01 X-12.3601 Y40.8784 Z24.9995 C0.0000 B0.0000 F1500
N1040 G01 X-13.6533 Y38.9318 Z24.9995 C0.0000 B0.0000 F1500
N1050 G01 X-14.9465 Y36.9852 Z24.9995 C0.0000 B0.0000 F1500
N1060 G01 X-16.2397 Y35.0387 Z24.9995 C0.0000 B0.0000 F1500
N1070 G01 X-17.5330 Y33.0921 Z24.9995 C0.0000 B0.0000 F1500
N1080 G01 X-18.8262 Y31.1455 Z24.9995 C0.0000 B0.0000 F1500
N1090 G01 X-20.1194 Y29.1989 Z24.9995 C0.0000 B0.0000 F1500
N1100 G01 X-21.4126 Y27.2524 Z24.9995 C0.0000 B0.0000 F1500
N1110 G01 X-22.7059 Y25.3058 Z24.9995 C0.0000 B0.0000 F1500
N1120 G01 X-23.9991 Y23.3592 Z24.9995 C0.0000 B0.0000 F1500

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N1130 G01 X-25.2923 Y21.4126 Z24.9995 C0.0000 B0.0000 F1500
N1140 G01 X-26.5855 Y19.4660 Z24.9995 C0.0000 B0.0000 F1500
N1150 G01 X-27.8788 Y17.5195 Z24.9995 C0.0000 B0.0000 F1500
N1160 G01 X-29.1720 Y15.5729 Z24.9995 C0.0000 B0.0000 F1500
N1170 G01 X-30.4652 Y13.6263 Z24.9995 C0.0000 B0.0000 F1500
N1180 G01 X-31.7585 Y11.6797 Z24.9995 C0.0000 B0.0000 F1500
N1190 G01 X-33.0517 Y9.7332 Z24.9995 C0.0000 B0.0000 F1500
N1200 G01 X-34.3449 Y7.7866 Z24.9995 C0.0000 B0.0000 F1500
N1210 G01 X-35.6381 Y5.8400 Z24.9995 C0.0000 B0.0000 F1500
N1220 G01 X-36.9314 Y3.8934 Z24.9995 C0.0000 B0.0000 F1500
N1230 G01 X-38.2246 Y1.9469 Z24.9995 C0.0000 B0.0000 F1500
N1240 G01 X-39.5178 Y0.0003 Z24.9995 C0.0000 B0.0000 F1500
N1250 G01 X-39.5178 Y0.0003 Z26.9995 C0.0000 B0.0000 F3000
N1260 G01 X-39.5178 Y0.0003 Z28.9995 C0.0000 B0.0000 F3000
N1270 G01 X-39.5178 Y0.0003 Z30.9995 C0.0000 B0.0000 F3000
N1280 G01 X-39.5178 Y0.0003 Z32.9995 C0.0000 B0.0000 F3000
N1290 G01 X-39.5178 Y0.0003 Z34.9995 C0.0000 B0.0000 F3000
N1300 G00 X-39.5178 Y0.0003 Z36.8746 C0.0000 B0.0000 F10000
N1310 G00 X-39.5178 Y0.0003 Z38.7496 C0.0000 B0.0000 F10000
N1320 G00 X-39.5178 Y0.0003 Z40.6247 C0.0000 B0.0000 F10000
N1330 G00 X-39.5178 Y0.0003 Z42.4998 C0.0000 B0.0000 F10000
N1340 G00 X-39.5178 Y0.0003 Z44.3748 C0.0000 B0.0000 F10000
N1350 G00 X-39.5178 Y0.0003 Z46.2499 C0.0000 B0.0000 F10000

Script Manual 143 e-Series

 18. Module processpath

N1360 G00 X-39.5178 Y0.0003 Z48.1249 C0.0000 B0.0000 F10000

N1370 G00 X-39.5178 Y0.0003 Z50.0000 C0.0000 B0.0000 F10000
N1380 G00 X-38.0171 Y0.0001 Z50.0000 C0.0000 B0.0000 F10000
N1390 G00 X-36.5164 Y0.0000 Z50.0000 C0.0000 B0.0000 F10000
N1400 G00 X-35.0157 Y-0.0001 Z50.0000 C0.0000 B0.0000 F10000
N1410 G00 X-33.5150 Y-0.0003 Z50.0000 C0.0000 B0.0000 F10000
N1420 G00 X-33.5150 Y-0.0003 Z48.1249 C0.0000 B0.0000 F10000
N1430 G00 X-33.5150 Y-0.0003 Z46.2499 C0.0000 B0.0000 F10000
N1440 G00 X-33.5150 Y-0.0003 Z44.3748 C0.0000 B0.0000 F10000
N1450 G00 X-33.5150 Y-0.0003 Z42.4998 C0.0000 B0.0000 F10000
N1460 G00 X-33.5150 Y-0.0003 Z40.6247 C0.0000 B0.0000 F10000
N1470 G00 X-33.5150 Y-0.0003 Z38.7496 C0.0000 B0.0000 F10000
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N1480 G00 X-33.5150 Y-0.0003 Z36.8746 C0.0000 B0.0000 F10000

N1490 G00 X-33.5150 Y-0.0003 Z34.9995 C0.0000 B0.0000 F10000
N1500 G01 X-33.5150 Y-0.0003 Z32.9995 C0.0000 B0.0000 F900
N1510 G01 X-33.5150 Y-0.0003 Z30.9995 C0.0000 B0.0000 F900
N1520 G01 X-33.5150 Y-0.0003 Z28.9995 C0.0000 B0.0000 F900
N1530 G01 X-33.5150 Y-0.0003 Z26.9995 C0.0000 B0.0000 F900
N1540 G01 X-33.5150 Y-0.0003 Z24.9995 C0.0000 B0.0000 F900
N1550 G01 X-32.2470 Y-1.9088 Z24.9995 C0.0000 B0.0000 F1500
N1560 G01 X-30.9791 Y-3.8173 Z24.9995 C0.0000 B0.0000 F1500
N1570 G01 X-29.7111 Y-5.7257 Z24.9995 C0.0000 B0.0000 F1500
N1580 G01 X-28.4432 Y-7.6342 Z24.9995 C0.0000 B0.0000 F1500
N1590 G01 X-27.1752 Y-9.5427 Z24.9995 C0.0000 B0.0000 F1500
N1600 G01 X-25.9073 Y-11.4512 Z24.9995 C0.0000 B0.0000 F1500
N1610 G01 X-24.6393 Y-13.3597 Z24.9995 C0.0000 B0.0000 F1500
N1620 G01 X-23.3714 Y-15.2682 Z24.9995 C0.0000 B0.0000 F1500
N1630 G01 X-22.1034 Y-17.1767 Z24.9995 C0.0000 B0.0000 F1500
N1640 G01 X-20.8355 Y-19.0852 Z24.9995 C0.0000 B0.0000 F1500
N1650 G01 X-19.5675 Y-20.9936 Z24.9995 C0.0000 B0.0000 F1500
N1660 G01 X-18.2996 Y-22.9021 Z24.9995 C0.0000 B0.0000 F1500
N1670 G01 X-17.0316 Y-24.8106 Z24.9995 C0.0000 B0.0000 F1500
N1680 G01 X-15.7637 Y-26.7191 Z24.9995 C0.0000 B0.0000 F1500
N1690 G01 X-14.4957 Y-28.6276 Z24.9995 C0.0000 B0.0000 F1500
N1700 G01 X-13.2278 Y-30.5361 Z24.9995 C0.0000 B0.0000 F1500

e-Series 144 Script Manual

18. Module processpath

N1710 G01 X-11.9598 Y-32.4446 Z24.9995 C0.0000 B0.0000 F1500

N1720 G01 X-10.6919 Y-34.3531 Z24.9995 C0.0000 B0.0000 F1500
N1730 G01 X-9.4239 Y-36.2616 Z24.9995 C0.0000 B0.0000 F1500
N1740 G01 X-8.1560 Y-38.1700 Z24.9995 C0.0000 B0.0000 F1500
N1750 G01 X-6.8881 Y-40.0785 Z24.9995 C0.0000 B0.0000 F1500
N1760 G01 X-5.6201 Y-41.9870 Z24.9995 C0.0000 B0.0000 F1500
N1770 G01 X-3.6522 Y-40.8508 Z24.9995 C0.0000 B0.0000 F1500
N1780 G01 X-1.6843 Y-39.7147 Z24.9995 C0.0000 B0.0000 F1500
N1790 G01 X0.2835 Y-38.5785 Z24.9995 C0.0000 B0.0000 F1500
N1800 G01 X2.2514 Y-37.4423 Z24.9995 C0.0000 B0.0000 F1500
N1810 G01 X4.2193 Y-36.3062 Z24.9995 C0.0000 B0.0000 F1500
N1820 G01 X6.1872 Y-35.1700 Z24.9995 C0.0000 B0.0000 F1500

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N1830 G01 X8.1551 Y-34.0338 Z24.9995 C0.0000 B0.0000 F1500
N1840 G01 X10.1230 Y-32.8976 Z24.9995 C0.0000 B0.0000 F1500
N1850 G01 X12.0908 Y-31.7615 Z24.9995 C0.0000 B0.0000 F1500
N1860 G01 X14.0587 Y-30.6253 Z24.9995 C0.0000 B0.0000 F1500
N1870 G01 X16.0266 Y-29.4891 Z24.9995 C0.0000 B0.0000 F1500
N1880 G01 X17.9945 Y-28.3529 Z24.9995 C0.0000 B0.0000 F1500
N1890 G01 X19.9624 Y-27.2168 Z24.9995 C0.0000 B0.0000 F1500
N1900 G01 X21.9302 Y-26.0806 Z24.9995 C0.0000 B0.0000 F1500
N1910 G01 X23.8981 Y-24.9444 Z24.9995 C0.0000 B0.0000 F1500
N1920 G01 X25.8660 Y-23.8082 Z24.9995 C0.0000 B0.0000 F1500
N1930 G01 X27.8339 Y-22.6721 Z24.9995 C0.0000 B0.0000 F1500
N1940 G01 X29.8018 Y-21.5359 Z24.9995 C0.0000 B0.0000 F1500
N1950 G01 X29.8018 Y-19.2689 Z24.9995 C0.0000 B0.0000 F1500
N1960 G01 X29.8017 Y-17.0020 Z24.9995 C0.0000 B0.0000 F1500
N1970 G01 X29.8017 Y-14.7350 Z24.9995 C0.0000 B0.0000 F1500
N1980 G01 X29.8017 Y-12.4681 Z24.9995 C0.0000 B0.0000 F1500
N1990 G01 X29.8017 Y-10.2011 Z24.9995 C0.0000 B0.0000 F1500
N2000 G01 X29.8017 Y-7.9341 Z24.9995 C0.0000 B0.0000 F1500
N2010 G01 X29.8017 Y-5.6672 Z24.9995 C0.0000 B0.0000 F1500
N2020 G01 X29.8017 Y-3.4002 Z24.9995 C0.0000 B0.0000 F1500
N2030 G01 X29.8017 Y-1.1333 Z24.9995 C0.0000 B0.0000 F1500
N2040 G01 X29.8016 Y1.1337 Z24.9995 C0.0000 B0.0000 F1500
N2050 G01 X29.8016 Y3.4007 Z24.9995 C0.0000 B0.0000 F1500

Script Manual 145 e-Series

 18. Module processpath

N2060 G01 X29.8016 Y5.6676 Z24.9995 C0.0000 B0.0000 F1500

N2070 G01 X29.8016 Y7.9346 Z24.9995 C0.0000 B0.0000 F1500
N2080 G01 X29.8016 Y10.2015 Z24.9995 C0.0000 B0.0000 F1500
N2090 G01 X29.8016 Y12.4685 Z24.9995 C0.0000 B0.0000 F1500
N2100 G01 X29.8016 Y14.7355 Z24.9995 C0.0000 B0.0000 F1500
N2110 G01 X29.8015 Y17.0024 Z24.9995 C0.0000 B0.0000 F1500
N2120 G01 X29.8015 Y19.2694 Z24.9995 C0.0000 B0.0000 F1500
N2130 G01 X29.8015 Y21.5363 Z24.9995 C0.0000 B0.0000 F1500
N2140 G01 X27.8336 Y22.6725 Z24.9995 C0.0000 B0.0000 F1500
N2150 G01 X25.8657 Y23.8086 Z24.9995 C0.0000 B0.0000 F1500
N2160 G01 X23.8978 Y24.9448 Z24.9995 C0.0000 B0.0000 F1500
N2170 G01 X21.9299 Y26.0809 Z24.9995 C0.0000 B0.0000 F1500
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N2180 G01 X19.9620 Y27.2170 Z24.9995 C0.0000 B0.0000 F1500

N2190 G01 X17.9941 Y28.3532 Z24.9995 C0.0000 B0.0000 F1500
N2200 G01 X16.0262 Y29.4893 Z24.9995 C0.0000 B0.0000 F1500
N2210 G01 X14.0583 Y30.6255 Z24.9995 C0.0000 B0.0000 F1500
N2220 G01 X12.0904 Y31.7616 Z24.9995 C0.0000 B0.0000 F1500
N2230 G01 X10.1225 Y32.8977 Z24.9995 C0.0000 B0.0000 F1500
N2240 G01 X8.1546 Y34.0339 Z24.9995 C0.0000 B0.0000 F1500
N2250 G01 X6.1867 Y35.1700 Z24.9995 C0.0000 B0.0000 F1500
N2260 G01 X4.2188 Y36.3062 Z24.9995 C0.0000 B0.0000 F1500
N2270 G01 X2.2508 Y37.4423 Z24.9995 C0.0000 B0.0000 F1500
N2280 G01 X0.2829 Y38.5784 Z24.9995 C0.0000 B0.0000 F1500
N2290 G01 X-1.6850 Y39.7146 Z24.9995 C0.0000 B0.0000 F1500
N2300 G01 X-3.6529 Y40.8507 Z24.9995 C0.0000 B0.0000 F1500
N2310 G01 X-5.6208 Y41.9869 Z24.9995 C0.0000 B0.0000 F1500
N2320 G01 X-6.8887 Y40.0784 Z24.9995 C0.0000 B0.0000 F1500
N2330 G01 X-8.1566 Y38.1699 Z24.9995 C0.0000 B0.0000 F1500
N2340 G01 X-9.4245 Y36.2614 Z24.9995 C0.0000 B0.0000 F1500
N2350 G01 X-10.6924 Y34.3529 Z24.9995 C0.0000 B0.0000 F1500
N2360 G01 X-11.9604 Y32.4445 Z24.9995 C0.0000 B0.0000 F1500
N2370 G01 X-13.2283 Y30.5360 Z24.9995 C0.0000 B0.0000 F1500
N2380 G01 X-14.4962 Y28.6275 Z24.9995 C0.0000 B0.0000 F1500
N2390 G01 X-15.7641 Y26.7190 Z24.9995 C0.0000 B0.0000 F1500
N2400 G01 X-17.0320 Y24.8105 Z24.9995 C0.0000 B0.0000 F1500

e-Series 146 Script Manual

18. Module processpath

N2410 G01 X-18.2999 Y22.9020 Z24.9995 C0.0000 B0.0000 F1500

N2420 G01 X-19.5679 Y20.9936 Z24.9995 C0.0000 B0.0000 F1500
N2430 G01 X-20.8358 Y19.0851 Z24.9995 C0.0000 B0.0000 F1500
N2440 G01 X-22.1037 Y17.1766 Z24.9995 C0.0000 B0.0000 F1500
N2450 G01 X-23.3716 Y15.2681 Z24.9995 C0.0000 B0.0000 F1500
N2460 G01 X-24.6395 Y13.3596 Z24.9995 C0.0000 B0.0000 F1500
N2470 G01 X-25.9075 Y11.4512 Z24.9995 C0.0000 B0.0000 F1500
N2480 G01 X-27.1754 Y9.5427 Z24.9995 C0.0000 B0.0000 F1500
N2490 G01 X-28.4433 Y7.6342 Z24.9995 C0.0000 B0.0000 F1500
N2500 G01 X-29.7112 Y5.7257 Z24.9995 C0.0000 B0.0000 F1500
N2510 G01 X-30.9791 Y3.8172 Z24.9995 C0.0000 B0.0000 F1500
N2520 G01 X-32.2470 Y1.9088 Z24.9995 C0.0000 B0.0000 F1500

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N2530 G01 X-33.5150 Y0.0003 Z24.9995 C0.0000 B0.0000 F1500
N2540 G01 X-33.5150 Y0.0003 Z26.9995 C0.0000 B0.0000 F3000
N2550 G01 X-33.5150 Y0.0003 Z28.9995 C0.0000 B0.0000 F3000
N2560 G01 X-33.5150 Y0.0003 Z30.9995 C0.0000 B0.0000 F3000
N2570 G01 X-33.5150 Y0.0003 Z32.9995 C0.0000 B0.0000 F3000
N2580 G01 X-33.5150 Y0.0003 Z34.9995 C0.0000 B0.0000 F3000
N2590 G00 X-33.5150 Y0.0003 Z36.8746 C0.0000 B0.0000 F10000
N2600 G00 X-33.5150 Y0.0003 Z38.7496 C0.0000 B0.0000 F10000
N2610 G00 X-33.5150 Y0.0003 Z40.6247 C0.0000 B0.0000 F10000
N2620 G00 X-33.5150 Y0.0003 Z42.4998 C0.0000 B0.0000 F10000
N2630 G00 X-33.5150 Y0.0003 Z44.3748 C0.0000 B0.0000 F10000
N2640 G00 X-33.5150 Y0.0003 Z46.2499 C0.0000 B0.0000 F10000
N2650 G00 X-33.5150 Y0.0003 Z48.1249 C0.0000 B0.0000 F10000
N2660 G00 X-33.5150 Y0.0003 Z50.0000 C0.0000 B0.0000 F10000
N2670 G00 X-32.0142 Y0.0001 Z50.0000 C0.0000 B0.0000 F10000
N2680 G00 X-30.5135 Y0.0000 Z50.0000 C0.0000 B0.0000 F10000
N2690 G00 X-29.0128 Y-0.0001 Z50.0000 C0.0000 B0.0000 F10000
N2700 G00 X-27.5121 Y-0.0003 Z50.0000 C0.0000 B0.0000 F10000
N2710 G00 X-27.5121 Y-0.0003 Z48.1249 C0.0000 B0.0000 F10000
N2720 G00 X-27.5121 Y-0.0003 Z46.2499 C0.0000 B0.0000 F10000
N2730 G00 X-27.5121 Y-0.0003 Z44.3748 C0.0000 B0.0000 F10000
N2740 G00 X-27.5121 Y-0.0003 Z42.4998 C0.0000 B0.0000 F10000
N2750 G00 X-27.5121 Y-0.0003 Z40.6247 C0.0000 B0.0000 F10000

Script Manual 147 e-Series

 18. Module processpath

N2760 G00 X-27.5121 Y-0.0003 Z38.7496 C0.0000 B0.0000 F10000

N2770 G00 X-27.5121 Y-0.0003 Z36.8746 C0.0000 B0.0000 F10000
N2780 G00 X-27.5121 Y-0.0003 Z34.9995 C0.0000 B0.0000 F10000
N2790 G01 X-27.5121 Y-0.0003 Z33.3328 C0.0000 B0.0000 F900
N2800 G01 X-27.5121 Y-0.0003 Z31.6662 C0.0000 B0.0000 F900
N2810 G01 X-27.5121 Y-0.0003 Z29.9995 C0.0000 B0.0000 F900
N2820 G01 X-27.5121 Y-0.0003 Z28.3328 C0.0000 B0.0000 F900
N2830 G01 X-27.5121 Y-0.0003 Z26.6662 C0.0000 B0.0000 F900
N2840 G01 X-27.5121 Y-0.0003 Z24.9995 C0.0000 B0.0000 F900
N2850 G01 X-26.2089 Y-1.9619 Z24.9995 C0.0000 B0.0000 F1500
N2860 G01 X-24.9056 Y-3.9235 Z24.9995 C0.0000 B0.0000 F1500
N2870 G01 X-23.6024 Y-5.8851 Z24.9995 C0.0000 B0.0000 F1500
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N2880 G01 X-22.2991 Y-7.8467 Z24.9995 C0.0000 B0.0000 F1500

N2890 G01 X-20.9959 Y-9.8083 Z24.9995 C0.0000 B0.0000 F1500
N2900 G01 X-19.6926 Y-11.7699 Z24.9995 C0.0000 B0.0000 F1500
N2910 G01 X-18.3894 Y-13.7315 Z24.9995 C0.0000 B0.0000 F1500
N2920 G01 X-17.0862 Y-15.6931 Z24.9995 C0.0000 B0.0000 F1500
N2930 G01 X-15.7829 Y-17.6547 Z24.9995 C0.0000 B0.0000 F1500
N2940 G01 X-14.4797 Y-19.6163 Z24.9995 C0.0000 B0.0000 F1500
N2950 G01 X-13.1764 Y-21.5779 Z24.9995 C0.0000 B0.0000 F1500
N2960 G01 X-11.8732 Y-23.5395 Z24.9995 C0.0000 B0.0000 F1500
N2970 G01 X-10.5699 Y-25.5011 Z24.9995 C0.0000 B0.0000 F1500
N2980 G01 X-9.2667 Y-27.4627 Z24.9995 C0.0000 B0.0000 F1500
N2990 G01 X-7.9635 Y-29.4244 Z24.9995 C0.0000 B0.0000 F1500
N3000 G01 X-6.6602 Y-31.3860 Z24.9995 C0.0000 B0.0000 F1500
N3010 G01 X-5.3570 Y-33.3476 Z24.9995 C0.0000 B0.0000 F1500
N3020 G01 X-4.0537 Y-35.3092 Z24.9995 C0.0000 B0.0000 F1500
N3030 G01 X-2.1300 Y-34.1985 Z24.9995 C0.0000 B0.0000 F1500
N3040 G01 X-0.2063 Y-33.0878 Z24.9995 C0.0000 B0.0000 F1500
N3050 G01 X1.7174 Y-31.9772 Z24.9995 C0.0000 B0.0000 F1500
N3060 G01 X3.6411 Y-30.8665 Z24.9995 C0.0000 B0.0000 F1500
N3070 G01 X5.5648 Y-29.7558 Z24.9995 C0.0000 B0.0000 F1500
N3080 G01 X7.4885 Y-28.6452 Z24.9995 C0.0000 B0.0000 F1500
N3090 G01 X9.4122 Y-27.5345 Z24.9995 C0.0000 B0.0000 F1500
N3100 G01 X11.3359 Y-26.4238 Z24.9995 C0.0000 B0.0000 F1500

e-Series 148 Script Manual

18. Module processpath

N3110 G01 X13.2596 Y-25.3132 Z24.9995 C0.0000 B0.0000 F1500

N3120 G01 X15.1833 Y-24.2025 Z24.9995 C0.0000 B0.0000 F1500
N3130 G01 X17.1070 Y-23.0918 Z24.9995 C0.0000 B0.0000 F1500
N3140 G01 X19.0307 Y-21.9812 Z24.9995 C0.0000 B0.0000 F1500
N3150 G01 X20.9544 Y-20.8705 Z24.9995 C0.0000 B0.0000 F1500
N3160 G01 X22.8781 Y-19.7598 Z24.9995 C0.0000 B0.0000 F1500
N3170 G01 X24.8018 Y-18.6491 Z24.9995 C0.0000 B0.0000 F1500
N3180 G01 X24.8018 Y-16.3180 Z24.9995 C0.0000 B0.0000 F1500
N3190 G01 X24.8017 Y-13.9868 Z24.9995 C0.0000 B0.0000 F1500
N3200 G01 X24.8017 Y-11.6556 Z24.9995 C0.0000 B0.0000 F1500
N3210 G01 X24.8017 Y-9.3245 Z24.9995 C0.0000 B0.0000 F1500
N3220 G01 X24.8017 Y-6.9933 Z24.9995 C0.0000 B0.0000 F1500

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N3230 G01 X24.8017 Y-4.6621 Z24.9995 C0.0000 B0.0000 F1500
N3240 G01 X24.8017 Y-2.3310 Z24.9995 C0.0000 B0.0000 F1500
N3250 G01 X24.8016 Y0.0002 Z24.9995 C0.0000 B0.0000 F1500
N3260 G01 X24.8016 Y2.3314 Z24.9995 C0.0000 B0.0000 F1500
N3270 G01 X24.8016 Y4.6626 Z24.9995 C0.0000 B0.0000 F1500
N3280 G01 X24.8016 Y6.9937 Z24.9995 C0.0000 B0.0000 F1500
N3290 G01 X24.8016 Y9.3249 Z24.9995 C0.0000 B0.0000 F1500
N3300 G01 X24.8016 Y11.6561 Z24.9995 C0.0000 B0.0000 F1500
N3310 G01 X24.8016 Y13.9872 Z24.9995 C0.0000 B0.0000 F1500
N3320 G01 X24.8015 Y16.3184 Z24.9995 C0.0000 B0.0000 F1500
N3330 G01 X24.8015 Y18.6496 Z24.9995 C0.0000 B0.0000 F1500
N3340 G01 X22.8778 Y19.7602 Z24.9995 C0.0000 B0.0000 F1500
N3350 G01 X20.9541 Y20.8708 Z24.9995 C0.0000 B0.0000 F1500
N3360 G01 X19.0303 Y21.9815 Z24.9995 C0.0000 B0.0000 F1500
N3370 G01 X17.1066 Y23.0921 Z24.9995 C0.0000 B0.0000 F1500
N3380 G01 X15.1829 Y24.2027 Z24.9995 C0.0000 B0.0000 F1500
N3390 G01 X13.2592 Y25.3134 Z24.9995 C0.0000 B0.0000 F1500
N3400 G01 X11.3354 Y26.4240 Z24.9995 C0.0000 B0.0000 F1500
N3410 G01 X9.4117 Y27.5346 Z24.9995 C0.0000 B0.0000 F1500
N3420 G01 X7.4880 Y28.6452 Z24.9995 C0.0000 B0.0000 F1500
N3430 G01 X5.5642 Y29.7559 Z24.9995 C0.0000 B0.0000 F1500
N3440 G01 X3.6405 Y30.8665 Z24.9995 C0.0000 B0.0000 F1500
N3450 G01 X1.7168 Y31.9771 Z24.9995 C0.0000 B0.0000 F1500

Script Manual 149 e-Series

 18. Module processpath

N3460 G01 X-0.2069 Y33.0878 Z24.9995 C0.0000 B0.0000 F1500

N3470 G01 X-2.1307 Y34.1984 Z24.9995 C0.0000 B0.0000 F1500
N3480 G01 X-4.0544 Y35.3090 Z24.9995 C0.0000 B0.0000 F1500
N3490 G01 X-5.3576 Y33.3474 Z24.9995 C0.0000 B0.0000 F1500
N3500 G01 X-6.6608 Y31.3858 Z24.9995 C0.0000 B0.0000 F1500
N3510 G01 X-7.9640 Y29.4242 Z24.9995 C0.0000 B0.0000 F1500
N3520 G01 X-9.2672 Y27.4626 Z24.9995 C0.0000 B0.0000 F1500
N3530 G01 X-10.5704 Y25.5010 Z24.9995 C0.0000 B0.0000 F1500
N3540 G01 X-11.8736 Y23.5394 Z24.9995 C0.0000 B0.0000 F1500
N3550 G01 X-13.1768 Y21.5778 Z24.9995 C0.0000 B0.0000 F1500
N3560 G01 X-14.4800 Y19.6162 Z24.9995 C0.0000 B0.0000 F1500
N3570 G01 X-15.7832 Y17.6546 Z24.9995 C0.0000 B0.0000 F1500
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

N3580 G01 X-17.0865 Y15.6930 Z24.9995 C0.0000 B0.0000 F1500

N3590 G01 X-18.3897 Y13.7315 Z24.9995 C0.0000 B0.0000 F1500
N3600 G01 X-19.6929 Y11.7699 Z24.9995 C0.0000 B0.0000 F1500
N3610 G01 X-20.9961 Y9.8083 Z24.9995 C0.0000 B0.0000 F1500
N3620 G01 X-22.2993 Y7.8467 Z24.9995 C0.0000 B0.0000 F1500
N3630 G01 X-23.6025 Y5.8851 Z24.9995 C0.0000 B0.0000 F1500
N3640 G01 X-24.9057 Y3.9235 Z24.9995 C0.0000 B0.0000 F1500
N3650 G01 X-26.2089 Y1.9619 Z24.9995 C0.0000 B0.0000 F1500
N3660 G01 X-27.5121 Y0.0003 Z24.9995 C0.0000 B0.0000 F1500
N3670 M9
N3680 M30

e-Series 150 Script Manual

18. Module processpath
Software Name: [[[Undefined variable doc_props.sw_name]]]
Software Version: 5.14
Document Version:

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Script Manual 151 e-Series

Script Manual
18. Module processpath

152
e-Series
Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.
19. Glossary

19. Glossary

My Term
My definition

Copyright © 2009–2023 by Universal Robots A/S. All rights reserved.

Script Manual 153 e-Series