目次
URCtrl(...)
connect() -> bool
disconnect() -> bool
reconnect() -> bool
is_connected() -> bool
get_version() -> str
get_var(kind_or_combined, id_num=None)
set_var(kind_or_combined, id_or_value, value=None)
get_P(id_num)
set_P(id_num, value)
teach(kind_or_combined="P", id_num=None, save=True)
get_I()
set_I()
get_F()
set_F()
set_motion_mode()
get_motion_mode()
set_coord_type()
get_coord_type()
set_speed()
get_speed()
set_jspeed()
get_jspeed()
set_accel()
get_accel()
set_decel()
get_decel()
current_position
current_angle
state()
is_running()
motion_complete()
wait_for_complete(timeout=None, interval=0.02)
move(target, ...)
move_path(targets, ...)
drive(target, relative=False, ...)
dev(base, offset)
pose_trans(base, offset)
p2j(p_type_pos)
j2p(j_type_pos)
stop()
halt()
task_stop()
hand_stop()
set_IO(id_num, value)
get_IO(id_num)
get_digital_input(id_num)
set_tcp(tcp)
get_current_tool()
is_pose_within_safety_limits(pose)
is_joints_within_safety_limits(joints)
get_current_error_info()
reset_error()
turn_on_motor()
turn_off_motor()
URCtrl
ur_rtde
RTDEControlInterface
RTDEReceiveInterface
RTDEIOInterface
Config
Config.BCAP_PORT
Config.CLIENT_LOGGER_NAME
Config.COBOTTA_IP
Config.JOYPAD_INTERVAL
Config.JOYPAD_LOGGER_NAME
Config.JOYPAD_PORT
Config.LOGGER_LEVEL
Config.ROBOT_IP
Config.ROBOT_VAR_FILE
Config.SERVER_IP
Config.SERVER_LOGGER_NAME
Config.SERVER_PORT
Config.TIMEOUT
Config.UR_DEFAULT_BLEND_RADIUS
Config.UR_MAX_JOINT_ACCELERATION
Config.UR_MAX_JOINT_SPEED
Config.UR_MAX_LINEAR_ACCELERATION
Config.UR_MAX_LINEAR_SPEED
Config.UR_USE_DASHBOARD
Config._load_yaml()
Config._resolve_path()
Config.load_yaml()
MotionMode
MotionMode.CIRCLE
MotionMode.LINE
MotionMode.PTP
MotionMode.SPLINE
UrCtrl
UrCtrl._VAR_NAME_RE
UrCtrl.accel
UrCtrl.approach()
UrCtrl.autocal()
UrCtrl.busy_status
UrCtrl.change_tool()
UrCtrl.change_work()
UrCtrl.check_error()
UrCtrl.clear_log()
UrCtrl.clear_servo_log()
UrCtrl.connect()
UrCtrl.coord_type
UrCtrl.current_angle
UrCtrl.current_position
UrCtrl.decel
UrCtrl.delete()
UrCtrl.dev()
UrCtrl.direct_mode
UrCtrl.disconnect()
UrCtrl.drive()
UrCtrl.error_code
UrCtrl.error_description
UrCtrl.extaccel
UrCtrl.extdecel
UrCtrl.extspeed
UrCtrl.get_F()
UrCtrl.get_I()
UrCtrl.get_IO()
UrCtrl.get_J()
UrCtrl.get_P()
UrCtrl.get_accel()
UrCtrl.get_all_var()
UrCtrl.get_check_ik()
UrCtrl.get_coord_type()
UrCtrl.get_current_angle()
UrCtrl.get_current_error_info()
UrCtrl.get_current_pose()
UrCtrl.get_current_position()
UrCtrl.get_current_tool()
UrCtrl.get_current_tool_no()
UrCtrl.get_current_work_no()
UrCtrl.get_decel()
UrCtrl.get_direct_mode()
UrCtrl.get_error()
UrCtrl.get_error_code()
UrCtrl.get_error_count()
UrCtrl.get_error_description()
UrCtrl.get_error_info()
UrCtrl.get_extaccel()
UrCtrl.get_extdecel()
UrCtrl.get_extspeed()
UrCtrl.get_jspeed()
UrCtrl.get_log_count()
UrCtrl.get_log_record()
UrCtrl.get_motion_complete()
UrCtrl.get_motion_mode()
UrCtrl.get_motion_preparation()
UrCtrl.get_path_blend()
UrCtrl.get_speed()
UrCtrl.get_task_status()
UrCtrl.get_tool()
UrCtrl.get_tool_define()
UrCtrl.get_var()
UrCtrl.get_version()
UrCtrl.get_work()
UrCtrl.give_arm()
UrCtrl.halt()
UrCtrl.hand()
UrCtrl.hand_close()
UrCtrl.hand_open()
UrCtrl.hand_stop()
UrCtrl.init_hand()
UrCtrl.is_connected()
UrCtrl.is_empty_position()
UrCtrl.is_running()
UrCtrl.j2p()
UrCtrl.jspeed
UrCtrl.lock
UrCtrl.motion_complete()
UrCtrl.motion_mode
UrCtrl.move()
UrCtrl.p2j()
UrCtrl.path_blend
UrCtrl.print_error()
UrCtrl.print_error_info()
UrCtrl.reconnect()
UrCtrl.release_arm()
UrCtrl.remove_extension()
UrCtrl.reset_error()
UrCtrl.rotate()
UrCtrl.run_script()
UrCtrl.servo_on
UrCtrl.set_F()
UrCtrl.set_I()
UrCtrl.set_IO()
UrCtrl.set_J()
UrCtrl.set_P()
UrCtrl.set_accel()
UrCtrl.set_check_ik()
UrCtrl.set_coord_type()
UrCtrl.set_decel()
UrCtrl.set_extaccel()
UrCtrl.set_extdecel()
UrCtrl.set_extspeed()
UrCtrl.set_jspeed()
UrCtrl.set_motion_mode()
UrCtrl.set_path_blend()
UrCtrl.set_speed()
UrCtrl.set_tool()
UrCtrl.set_tool_define()
UrCtrl.set_var()
UrCtrl.set_work()
UrCtrl.speed
UrCtrl.start_log()
UrCtrl.start_servo_log()
UrCtrl.state()
UrCtrl.stop()
UrCtrl.stop_log()
UrCtrl.stop_servo_log()
UrCtrl.take_arm()
UrCtrl.task
UrCtrl.task_state
UrCtrl.task_stop()
UrCtrl.teach()
UrCtrl.turn_off_motor()
UrCtrl.turn_on_motor()
UrCtrl.wait_for_complete()
RobotVarManager
UrError
UrPrimaryErrorReceiver
UrRtde