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