Hello friends,
I have a program written via the GUI on the teaching pendant, so it is saved as a URP. I imagine this is compiled into URScript, so how would I see the URScript equivalent of my URP program?
Thanks!
Found it.
For others stumbling onto this later, the only way to do this is to get an external USB and plug it into the teaching pendant. Then click Open, and on the bottom right change the selection from Universal Robots Program files to all files. Then look for the program of interest, but instead of .urp you’re looking for a file with the same name but ending in .script. Copy and paste that file to the external USB, then on your PC you can open the file and take a look at what your programs are really up to.
In our case we found that the Force mode template was calling zeroFtSensor, which is good practice normally, but in our case it was messing with the resulting movement.