DoF - a Robotiq Community
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The Dof Community was shut down in June 2023. This is a read-only archive.
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A is acceleration for a movej in radians/sec/sec and v is velocity for a movej in radians/sec. if you are doing a moveL then the units are m/s/s and m/s. 

There are API docs for URScript, they are located here. The easiest way I’ve found to learn script is to generate a Polyscope file and save/play it. This will generate a file by the same name with a .script file extension. Open this up in either a text editor or your favorite IDE and you will see how they convert what you see on the screen into script.