script code UR basics

jensss

hello

I'm working on a project with an UR5. 

I'm supposed to get the knowledge of the URscript.

I've read here before that there is no file or doc  where the basics are explained. The best thing you could do was make something simple and study the script file. 

Now I've started this.

The script code of a movement looks like this:

movej([-0.7601482324296471, -1.9284112483400442, 2.4200850009312065, -2.13148960204731, -1.562351390833685, -0.9523963238633675], a=1.3962634015954636, v=1.0471975511965976)

with between [] the values of the arranged in radians.

type of movement([base,shoulder,elbow,wrist1,wrist2,wrist3]

but what does the 'a' and the 'v' stand for?

If I'm correct, something with speed and acceleration

can somebody clearly explain to me what the a and v stand for?

thank you in advance

matthewd92

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.