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A short GitHub to give en example how to write and use UR-script in the UR-Polyscope enviorment.

All code have been tested on version polyscope version:

CB3: 3.15.4

E-series: 5.17

Robot platform : UR3 and UR3e

You can either test it on the Offline simulator (download that from UR Homepage orhere

Under the folderUR Script you will finde the script files used in the following examples.Under the folderUR Code you will finde a file with all files to load into polyscope.Under the folderManual you will find UR-script manual in pdf format.

Step 1:Press "robot program" and mark the field "add Before Start Sequence", this will make first run the will not be looped. In this tab of the programming you can set up a start position, functions and other values that you want global access to.To add a function, go to the "advanced" tab in programming, choose "Script", change the dropdown menu to "file" and press "edit". From here you can now load a file writen in UR-script ("filename".txt or .script) and you can edit the file directly in the polyscope editor (remember to press save)When the function are loaded into the "BeforeStart" you can call it in the "Robot program" (see picture with red)

Hallo world in the HW world, is to control an LED, try to implement this code

def BlinkLed(LED):sleep(0.1)set_digital_out(LED,True)sleep(1.0)set_digital_out(LED,False)sleep(1.0)end

Using parameteres to control a function can be importent, in this example it is used to make a "Pause" function"

def Pause(counter):while 0 < counter:counter = counter - 1sleep(0.001)endend

Usnge parameteres and math with return functions

def Calc(a, b):c = a + bglobal d = a - breturn cend

Using the UR script control the robots movement, in the picture it can be seen that the robot is moved with a movej to a start position. This way of moving a UR robot eliminates the start function of robots, where a user actively needs to press on the teach pendant to move the robot into a position. At the same time, there are no safety net to help the programmer from putting the robot into an illigal position, except an error message.All mesurements are in meter [m] and the postions are based on the Base of the robot.

def Move(x, y, z, rx, ry, rz, dX, dY, dZ):movel(p[x, y, z, rx, ry, rz], a=1, v=1)sleep(1.0)x = x + dXy = y + dYz = z + dZmovel(p[x, y, z, rx, ry, rz], a=1, v=1)sleep(1.0)end

Using a IF condition to move the robot.

def If_Check(INPUT, digiIN):if (digiIN == False):if (get_standard_digital_out(INPUT) == True):movel(p[0.10,-0.35,0.2,0.0,3.14,0.0], a=1, v=1)endif (get_standard_digital_out(INPUT) == False):movel(p[-0.10,-0.35,0.4,0.0,3.14,0.0], a=1, v=1)endelif (digiIN == True):if (get_standard_digital_in(INPUT) == True):movel(p[0.0,-0.35,0.2,0.0,3.14,0.0], a=1, v=1)endif (get_standard_digital_in(INPUT) == False):movel(p[0.0,-0.35,0.4,0.0,3.14,0.0], a=1, v=1)endendend

Using a function to run though multiple lists of postions, the position are saved in sub-programs and are loaded into the main robot program (see the picture or the example file)

def MoveLinear(pose_x0, pose_x1):i = 0while i < 6:movel(pose_x0[i], accel_mss, speed_ms, blend_radius_m) sleep (0.5)movel(pose_x1[i], accel_mss, speed_ms, blend_radius_m)sleep (0.5)i = i + 1endend

Have fun !! :)

Universal robots - Seek with force page

Universal Robots download page