# URScript **URL:** https://forum.universal-robots.com/c/product-wishlist/urscript/27.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [About the URScript category](https://forum.universal-robots.com/t/about-the-urscript-category/7235)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 0
This is a subcategory for the Feature requests. All Feature requests that relates to the URScript language shall be posted here. --- ## [Conveyor tracking on large objects](https://forum.universal-robots.com/t/conveyor-tracking-on-large-objects/15378)
**Author:** [@anon92625463](https://forum.universal-robots.com/u/anon92625463)\ **Replies:** 3\ **Last updated:** [November 21, 2023, 1:29pm UTC](https://forum.universal-robots.com/t/conveyor-tracking-on-large-objects/15378 "2023-11-21T13:29:09Z")
Summary Use conveyor tracking on objects that are larger than the robot’s workspace What is it? I want to execute a program that is larger than the robots workspace. To do this, I use a conveyor that moves the program i… --- ## [Obtain DH parameter offsets through script](https://forum.universal-robots.com/t/obtain-dh-parameter-offsets-through-script/29594)
**Author:** [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Replies:** 0\ **Last updated:** [July 19, 2023, 12:24pm UTC](https://forum.universal-robots.com/t/obtain-dh-parameter-offsets-through-script/29594 "2023-07-19T12:24:58Z")
Summary Script function for obtaining robot specific DH parameters What is it? I have to interface to many different robots, each having it’s own set of DH calibration parameter offsets. I now have to go into each robot… --- ## [Modbus Client Fucntion 16](https://forum.universal-robots.com/t/modbus-client-fucntion-16/27386)
**Author:** [@roguebuck](https://forum.universal-robots.com/u/roguebuck)\ **Replies:** 3\ **Last updated:** [June 8, 2023, 1:30pm UTC](https://forum.universal-robots.com/t/modbus-client-fucntion-16/27386 "2023-06-08T13:30:53Z")
Summary Implement modbus function code 16 for modbus client What is it? Implement modbus function code 16 for modbus client. Many devices require writing multiple registers. Why is it needed? Communication with some mo… --- ## [Controlling I/O with python without UR Robot program stopping](https://forum.universal-robots.com/t/controlling-i-o-with-python-without-ur-robot-program-stopping/25635)
**Author:** [@anon69245079](https://forum.universal-robots.com/u/anon69245079)\ **Replies:** 5\ **Last updated:** [January 17, 2023, 12:43pm UTC](https://forum.universal-robots.com/t/controlling-i-o-with-python-without-ur-robot-program-stopping/25635 "2023-01-17T12:43:53Z")
Hi all. I am trying to use CB3 with python to manipulate the I/O (digital output) to activate certain parts of the program. As in first the CB3 will make 3 moves to certain places and after that wait for DO1 to change … --- ## [Single shot modbus request](https://forum.universal-robots.com/t/single-shot-modbus-request/5418)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 8\ **Last updated:** [November 30, 2022, 9:50pm UTC](https://forum.universal-robots.com/t/single-shot-modbus-request/5418 "2022-11-30T21:50:08Z")
I want to send command to a motor drive with modbus TCP. The drive do not implement the “write single register (FC03)” command, only the “write multiple registers (FC16)”. For that reason I must use the “modbus\_send\_cus… --- ## [Create a new URScript to identify UR type (e.g. UR5, UR10e)](https://forum.universal-robots.com/t/create-a-new-urscript-to-identify-ur-type-e-g-ur5-ur10e/19622)
**Author:** [@takahiro.baba](https://forum.universal-robots.com/u/takahiro.baba)\ **Replies:** 2\ **Last updated:** [March 4, 2022, 4:16am UTC](https://forum.universal-robots.com/t/create-a-new-urscript-to-identify-ur-type-e-g-ur5-ur10e/19622 "2022-03-04T04:16:42Z")
Summary \*Create a new URScript command to identify UR type (e.g. UR5, UR10e) to let user have capability to know UR type What is it? \*New URScript command (e.g. get\_ur\_type()) returns a number meaning UR type. Here is … --- ## [How to read holdings registers with modbus TCP / IP communication](https://forum.universal-robots.com/t/how-to-read-holdings-registers-with-modbus-tcp-ip-communication/17692)
**Author:** [@hpous](https://forum.universal-robots.com/u/hpous)\ **Replies:** 0\ **Last updated:** [November 19, 2021, 7:00am UTC](https://forum.universal-robots.com/t/how-to-read-holdings-registers-with-modbus-tcp-ip-communication/17692 "2021-11-19T07:00:42Z")
I need to read holdings and inputs registers once the program is started using URScript commands. We are designing a URCap which acts as a modbus client and connects with a PLCNext AXC F 2152 as a server. We have to rea… --- ## [URScript function for resetting incremental encoder tick count](https://forum.universal-robots.com/t/urscript-function-for-resetting-incremental-encoder-tick-count/8617)
**Author:** [@ellingsen.harald](https://forum.universal-robots.com/u/ellingsen.harald)\ **Replies:** 0\ **Last updated:** [August 31, 2020, 5:57am UTC](https://forum.universal-robots.com/t/urscript-function-for-resetting-incremental-encoder-tick-count/8617 "2020-08-31T05:57:30Z")
Summary Reset encoder tick count when using an incremental encoder What is it? Simply resets the tick count of the decoded encoder tick count variable held in the UR. Why is it needed? Today the controller has to be po… --- ## [Clear socket buffer](https://forum.universal-robots.com/t/clear-socket-buffer/4707)
**Author:** [@anon15114530](https://forum.universal-robots.com/u/anon15114530)\ **Replies:** 1\ **Last updated:** [May 28, 2020, 9:37pm UTC](https://forum.universal-robots.com/t/clear-socket-buffer/4707 "2020-05-28T21:37:07Z")
Hello, In the urscript interface module, there is no way to clear the communication socket buffer. I experienced some data left in the socket buffer after a thread was killed between a ‘socket\_send’ and a ‘socket\_read’.…