Motion API

MotionMode

MotionMode.PTP
MotionMode.LINE
MotionMode.CIRCLE
MotionMode.SPLINE

Integer values are also accepted.

Integer	Mode
1	PTP
2	LINE
3	CIRCLE
4	SPLINE

move()

robot.move(
    target,
    motion_mode=None,
    coord_type=None,
    offset=None,
    speed=None,
    accel=None,
    is_async=True,
)

Perform a single-target move.

P String

robot.move("P1")
robot.move("@P P1")
robot.move("@0 P1")
robot.move("P1+(0,0,10)")

For a single-target move(), @P and @0 do not affect blending.

Numeric P Coordinates

robot.move(
    [300, 0, 200, 0, 180, 0],
    motion_mode=MotionMode.LINE,
    coord_type="P",
)

Numeric J Coordinates

robot.move(
    [0, -90, 90, 0, 90, 0],
    coord_type="J",
)

Internal Mapping

Input	Internal API
coord_type="J"	moveJ()
P + PTP	moveJ_IK()
P + LINE	moveL()
Single-target CIRCLE / SPLINE	Unsupported

move_path()

robot.move_path(
    ["P1", "P2", "P3"],
    motion_mode=MotionMode.LINE,
    speed=20,
    accel=20,
    blend=None,
    is_async=True,
)

Perform a multi-target move.

blend is measured in meters.

If omitted, blending follows path_blend.

• @0: blend = 0

• @P: UR_DEFAULT_BLEND_RADIUS

dev()

target = robot.dev("P1", [0, 0, 10, 0, 0, 0])

Add six components directly, similar to COBOTTA-style P1+(...).

pose_trans()

target = robot.pose_trans("P1", [0, 0, 10, 0, 0, 0])

Compose poses in the same manner as URScript pose_trans().

p2j() / j2p()

j = robot.p2j([300, 0, 200, 0, 180, 0])
p = robot.j2p([0, -90, 90, 0, 90, 0])

Perform inverse/forward kinematics.

drive()

robot.drive((1, 5), relative=True)

Move the specified joint axis, numbered 1 through 6.

stop()

robot.stop()

Call stopL() if the last motion mode was LINE; otherwise call stopJ().

halt(), task_stop(), and hand_stop() are aliases of stop().