Contents
1.Introduction 1
2.Connecting to URControl 2
3.Numbers, Variables, and Types 3
4.Matrix and Array Expressions 4
5.Flow of Control 6
5.1. Special keywords 6
6.Function 7
7.Remote Procedure Call (RPC) 9
8.Scoping rules 10
9.Threads 12
9.1. Threads and scope 13
9.2. Thread scheduling 13
10.Program Label 15
11.Secondary Programs 16
12.Interpreter Mode 17
12.1. Interpreter Mode replies 17
12.2. Entering Interpreter Mode 18
12.3. End Interpreter Mode 18
12.4. Clear Interpreter Mode 19
12.5. Aborting Current Function 19
12.6. Skip Non Executed Statements 19
12.7. State Commands for Interpreter Mode 20
12.8. Interpreter mode log files 21
13.Module motion 22
13.1. Functions 22
13.1.1. conveyor_pulse_decode(type, A, B) 22
13.1.2. encoder_enable_pulse_decode(encoder_index, decoder_type, A, B) 23
13.1.3. encoder_enable_set_tick_count(encoder_index, range_id) 24
13.1.4. encoder_get_tick_count(encoder_index) 24
13.1.5. encoder_set_tick_count(encoder_index, count) 24
13.1.6. encoder_unwind_delta_tick_count(encoder_index, delta_tick_count) 25
13.1.7. end_force_mode() 26
Script Manual e-Series
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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