TheURScriptProgrammingLanguagefore- Series
Robots A/Sandshallnotbereproducedinwholeorinpar twithoutpriorwrittenapprovalofUniversal Robots Robots Robots 2009 2021byUniversal Robots RobotslogoisaregisteredtrademarkofUniver sal Robots Introduction12. ConnectingtoURControl23. Numbers,Variables,andTypes34. MatrixandArrayExpressions45. Function77. RemoteProcedureCall(RPC)98. Scopingrules109. ProgramLabel1511. SecondaryPrograms1612. (type,A,B) (encoder_index,decoder_type,A,B) (encoder_index,range_id) (encoder_index) (encoder_index,count) (encoder_index,delta_tick_count) ()26ScriptManuale-SeriesCopyright 2009 2021byUniversal Robots () () () (task_frame,selection_vector,wrench,type ,limits) () (damping) (scaling) (freeAxes=[1,1,1,1,1,1],feature=p[0,0,0, 0,0,0]) () () () () (pose_via,pose_to,a= ,v= ,r=0,mode=0) (q,a= ,v= ,t=0,r=0) (pose,a= ,v= ,t=0,r=0) (pose,a= ,v= ,r=0) (a=20) () (type) (offset,type) (alpha) (transLimit,rotLimit) (code,argument) (enabled,threshold= ) (qNear=[ , , , , , ]) (f,v_limit) (q,a,v,t= ,lookahead_time= , gain=300) (tick_count,absolute_encoder_resolution= 0) (q) (type) (qd,a,t) (xd,a,t,aRot= a ) (a=20) (a) (a,aRot= a ) () (center,ticks_per_revolution,rotate_tool = False ,encoder_index=0) (direction,ticks_per_meter,encoder_index =0)
16.1.23.modbus_set_output_signal(signal_name,digital_value,is_secondary_program) 92 16.1.24.modbus_set_signal_update_frequency(signal_name,update_frequency) 92
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