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script code UR basics
/ Most recent by matthewd92
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