"UR机器人脚本手册（英文）3.14.3版本详解"

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The URscript Script Manual (English) version 3.14.3 is a comprehensive guide to the URscript programming language for UR (Universal Robots) machines. This manual includes detailed examples and instructions for using the URscript language to program the UR machines for a variety of tasks. The manual provides a thorough overview of the URscript language, including syntax, data types, operators, and control structures. It also covers advanced topics such as error handling, script organization, and best practices for writing efficient and maintainable URscript code. The manual is an essential resource for programmers and developers who work with UR machines and need to create custom scripts to automate various tasks. It provides a detailed reference for the URscript language and serves as a valuable tool for understanding the capabilities and limitations of the UR machines. However, while the URscript Script Manual (English) version 3.14.3 is a valuable resource for English-speaking users, it is not as well-suited for Chinese users. The language barrier may make it challenging for Chinese users, especially those who are not fluent in English, to fully understand and utilize the information in the manual. In conclusion, the URscript Script Manual (English) version 3.14.3 is a comprehensive and detailed guide to the URscript programming language for UR machines. It provides valuable information and examples for creating custom scripts to automate tasks, but its limited accessibility for non-English speakers may hinder its effectiveness for a wider audience.

Functions Module motion

2.1 Functions

conveyor_pulse_decode(type, A, B)

Deprecated:Tells the robot controller to treat digital inputs number A

and B as pulses for a conveyor encoder. Only digital input 0, 1, 2 or 3

can be used.

Parameters

type: An integer determining how to treat the inputs on A

and B

0 is no encoder, pulse decoding is disabled.

1 is quadrature encoder, input A and B must be

square waves with 90 degree offset. Direction of the

conveyor can be determined.

2 is rising and falling edge on single input (A).

3 is rising edge on single input (A).

4 is falling edge on single input (A).

The controller can decode inputs at up to 40kHz

A: Encoder input A, values of 0-3 are the digital inputs

0-3.

B: Encoder input B, values of 0-3 are the digital inputs

0-3.

Deprecated: This function is replaced by

encoder_enable_pulse_decode and it should therefore not be used

moving forward.

>>> conveyor_pulse_decode(1,0,1)

This example shows how to set up quadrature pulse decoding with

input A = digital_in[0] and input B = digital_in[1]

>>> conveyor_pulse_decode(2,3)

This example shows how to set up rising and falling edge pulse

decoding with input A = digital_in[3]. Note that you do not have to set

parameter B (as it is not used anyway).

Example command: conveyor_pulse_decode(1, 2, 3)

• Example Parameters:

– type = 1 → is quadrature encoder, input A and B must be

square waves with 90 degree offset. Direction of the

conveyor can be determined.

– A = 2 → Encoder output A is connected to digital input 2

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

URScript

Functions Module motion

encoder_unwind_delta_tick_count(encoder_index, delta_tick_count)

Returns the delta_tick_count. Unwinds in case encoder wraps around

the range. If no wrapping has happened the given delta_tick_count is

returned without any modiﬁcation.

Consider the following situation: You are using an encoder with a

UINT16 range, meaning the tick count is always in the [0; 65536[ range.

When the encoder is ticking, it may cross either end of the range,

which causes the tick count to wrap around to the other end. During

your program, the current tick count is assigned to a variable

(start:=encoder_get_tick_count(...)). Later, the tick count is assigned to

another variable (current:=encoder_get_tick_count(...)). To calculate

the distance the conveyor has traveled between the two sample

points, the two tick counts are subtracted from each other.

For example, the ﬁrst sample point is near the end of the range (e.g.,

start:=65530). When the conveyor arrives at the second point, the

encoder may have crossed the end of its range, wrapped around, and

reached a value near the beginning of the range (e.g., current:=864).

Subtracting the two samples to calculate the motion of the conveyor is

not robust, and may result in an incorrect result

(delta=current-start=-64666).

Conveyor tracking applications rely on these kinds of encoder

calculations. Unless special care is taken to compensate the encoder

wrapping around, the application will not be robust and may produce

weird behaviors (e.g., singularities or exceeded speed limits) which are

difﬁcult to explain and to reproduce.

This heuristic function checks that a given delta_tick_count value is

reasonable. If the encoder wrapped around the end of the range, it

compensates (i.e., unwinds) and returns the adjusted result. If a

delta_tick_count is larger than half the range of the encoder, wrapping

is assumed and is compensated. As a consequence, this function only

works when the range of the encoder is explicitly known, and therefore

the designated encoder must be enabled. If not, this function will

always return nil.

Parameters

encoder_index: Index of the encoder to query. Must

be either 0 or 1.

delta_tick_count: The delta (difference between two)

tick count to unwind (ﬂoat)

Return Value

The unwound delta_tick_count (ﬂoat)

URScript

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