API Reference

class ur_py_ctl.urscript_commands.Motion

Bases: object

JOINT = 1

LINEAR = 0

ur_py_ctl.urscript_commands.move_to_conf(joint_conf: Sequence[float], v: Optional[float] = None, a: Optional[float] = None, t: Optional[float] = None, r: Optional[float] = None) → str

Create a move to configuration function call

Parameters

• joint_conf – A list of joint positions (rad)

• a – Joint acceleration of leading axis (rad/s²)

• v – Joint speed of leading axis (rad/s)

• t – time (s)

• r – blend radius (m)

Returns

str – URScript function call

ur_py_ctl.urscript_commands.move_to_pose(x: float, y: float, z: float, rx: float, ry: float, rz: float, mode=1, v: Optional[float] = None, a: Optional[float] = None, t: Optional[float] = None, r: Optional[float] = None) → str

Create a move to pose function call

Parameters

• x – X coordinate (m)

• y – Y coordinate (m)

• z – Z coordinate (m)

• rx – X component of axis angle vector

• ry – X component of axis angle vector

• rz – X component of axis angle vector

• mode – Motion.LINEAR or Motion.JOINT. Defaults to Motion.JOINT

• a – Tool acceleration (m/s²)

• v – tool speed (m/s)

• t – time (s)

• r – blend radius (m)

Returns

str – URScript function call

ur_py_ctl.urscript_commands.popup(string: str) → str

Construct a function call that opens a popup on the teach pendant.

Parameters

string – Message to print

Notes

Popup arguments title, error & warning is not implemented in URScript.

ur_py_ctl.urscript_commands.read_AO(pin: int) → float

ur_py_ctl.urscript_commands.read_DO(pin: int) → bool

ur_py_ctl.urscript_commands.set_AO(pin: int, value: float) → str

ur_py_ctl.urscript_commands.set_DO(pin: int, state: bool) → str

Construct a function call that sets the state of a digital out.

Parameters

• pin – Pin number

• state – True or False

Returns

str – URScript function call

ur_py_ctl.urscript_commands.set_tcp(x: float, y: float, z: float, rx: float, ry: float, rz: float) → str

Create a set TCP function call

Parameters

• x – X coordinate (m)

• y – Y coordinate (m)

• z – Z coordinate (m)

• rx – X component of axis angle vector

• ry – X component of axis angle vector

• rz – X component of axis angle vector

Returns

str – URScript function call

ur_py_ctl.urscript_commands.sleep(seconds: int) → str

Construct a function call that instructs the controller to sleep.

ur_py_ctl.urscript_commands.socket_close(socket_name=None)

ur_py_ctl.urscript_commands.socket_open(address: str, port: int, socket_name=None)

ur_py_ctl.urscript_commands.socket_send_string(string_or_var_name: str, socket_name=None)

ur_py_ctl.urscript_commands.text_msg(string: str) → str

Create a log function call

Parameters

string – Message to print in log

Returns

str – URScript function call