UR的脚本编程语言及示例大全

Script Command Examples

Commands that have no arguments are not listed.

Part 1 – Module Motion

conveyor_pulse_decode(type, A, B)

Example command:

conveyor_pulse_decode(1, 2, 3)

Parameters in example

B = 3 – Encoder output B is connected to digital input 3

force_mode(task frame, selection vector, wrench, type, limits)

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])

Parameters in example

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.

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

Example command

movec(p[x,y,z,0,0,0], pose to, a=1.2, v=0.25, r=0.05)

Parameters in example

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

v = 0.25 – velocity is 250 mm/s

r = 0 – blend radius (at pose_to) is 50 mm.

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

Example command

movej([0,1.57,-1.57,3.14,-1.57,1.57], a=1.4, v=1.05, t=0, r=0)

Parameters in example

q = [0,1.57,-1.57,3.14,0,1.57] – 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)

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

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.

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

Example Command

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

position_deviation_warning(enabled, threshold)

Example Command

Position_deviation_warning(True,0.8)

Example Parameters

Enabled = True – Logging of warning is turned on

Threshhold = 0.8 – 80% of deviation that causes a protective stop causes a warning to be

logged in the log history file.

reset_revolution_counter(qNear=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])

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

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.

servoj(q, a, v, t=0.008, lookahead_time=0.1, gain=300)

Example Commands

servoj([0.0,1.57,-1.57,0,0,3.14], t=0.1, lookahead_time=0.1, gain=300)

or

servoj([0.0,1.57,-1.57,0,0,3.14], 0, 0, 0.1, 0.1, 300)

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]

set conveyor tick count(tick count, absolute encoder resolution=0)

Example Command

Set_conveyor_tick_count(24543,0)

Tick count = 24543 which is a value read from a MODBUS register being updated by the

absolute encoder

radians representing rotations of base=0°, shoulder=90°, elbow=-90°, wrist1=0°,

wrist2=0°, wrist3= 180°

speedj(qd, a, t)

This is the equivalent of a joint jog command. Robot moves as directed for time t.

Example Command

speedj([0.2,0.3,0.1,0.05,0,0], 0.5, 0.5)

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 wrist 3 = 0 rad/s

a acceleration of 0.5 rad/s