#28 - Universal Robots scripting

An important function for programming Universal Robots robots is the use of Scripts. Scripts can be created by the programmer himself in a language similar to Python. In addition, the robot controller already comes with several functions available for use (for more information see manual  > Select the robot> Manual> Firmware Version> Script Manual). In this post we will show some of them with the simulator of the e-Series model and Firmware 5.7.

When inserting a Script type command, a list appears with several available commands, not only from the robot's CPU, but also from devices added URCap such as the Robotiq clamp. However, this list is not complete, to see all the commands built into the CPU check the manual for the robot version and model of the application.

The purpose of this post is not to cover all available commands, but to show where to find them, use some of them in a simple example and strongly recommend the use of these resources that will undoubtedly help in the development of a project. 

Some examples are force, get_actual_joint_positions(), movej, set_payload().

Monitoring the variables values in the Variables tab.