# API Reference

## Connection

### `URCtrl(...)`

Create a UR controller instance; `connect()` is called during initialization.

### `connect() -> bool`

Connect the RTDEControl, RTDEReceive, and RTDEIO interfaces from SDU Robotics `ur_rtde`.

### `disconnect() -> bool`

Save virtual variables and close the connections.

### `reconnect() -> bool`

Disconnect and reconnect.

### `is_connected() -> bool`

Return whether the `ur_rtde` interfaces are connected.

### `get_version() -> str`

Return the PolyScope or SDU Robotics `ur_rtde` version.

## Variables

### `get_var(kind_or_combined, id_num=None)`

Retrieve P/I/F/IO variables.

### `set_var(kind_or_combined, id_or_value, value=None)`

Set P/I/F/IO variables.

### `get_P(id_num)` / `set_P(id_num, value)`

Access P variables.

### `teach(kind_or_combined="P", id_num=None, save=True)`

Save the current P/J values to virtual variables.

### `get_I()` / `set_I()` / `get_F()` / `set_F()`

Access I/F variables.

## Settings

### `set_motion_mode()` / `get_motion_mode()`

Set or retrieve the motion mode.

### `set_coord_type()` / `get_coord_type()`

Set or retrieve the default P/J coordinate type.

### `set_speed()` / `get_speed()`

Set or retrieve the linear-speed percentage.

### `set_jspeed()` / `get_jspeed()`

Set or retrieve the joint-speed percentage.

### `set_accel()` / `get_accel()`

Set or retrieve the acceleration percentage.

### `set_decel()` / `get_decel()`

Set or retrieve the stopping-deceleration percentage.

## Status

### `current_position`

Return the current P pose.

### `current_angle`

Return the current J angles.

### `state()`

Return UR status as a dictionary.

### `is_running()`

Return the RTDE script execution status.

### `motion_complete()`

Return whether the robot is steady.

### `wait_for_complete(timeout=None, interval=0.02)`

Wait for completion.

## Motion

### `move(target, ...)`

Move to a single target.

### `move_path(targets, ...)`

Move through multiple targets.

### `drive(target, relative=False, ...)`

Move a specified joint axis.

### `dev(base, offset)`

Simple component-wise addition of six values.

### `pose_trans(base, offset)`

Equivalent to URScript `pose_trans()`.

### `p2j(p_type_pos)` / `j2p(j_type_pos)`

Inverse/forward kinematics.

### `stop()` / `halt()` / `task_stop()` / `hand_stop()`

Stop motion.

## IO / TCP

### `set_IO(id_num, value)` / `get_IO(id_num)`

Digital output.

### `get_digital_input(id_num)`

Digital input.

### `set_tcp(tcp)`

Set the TCP offset.

### `get_current_tool()`

Get the TCP offset.

### `is_pose_within_safety_limits(pose)`

Check whether a P pose is within safety limits.

### `is_joints_within_safety_limits(joints)`

Check whether joint coordinates are within safety limits.

## Errors

### `get_current_error_info()`

Return current error information.

### `reset_error()`

Attempt recovery.

### `turn_on_motor()` / `turn_off_motor()`

Control motor power/brakes through Dashboard.

## Unsupported

The following are unsupported in the UR implementation or specific to COBOTTA.

- `move_circle()`  
- `rotate()`  
- `init_hand()`  
- `open_hand()`  
- `hand()`  
- `take_camera()`  
- `take_script()`  
- `run_script()`  
- COBOTTA file-transfer functions