Hello, I have a program on my UR5 that I want to translate to script. Is there any way I can do that directly or I need to rewrite the program line by line?
Load the program in the UR and play it. The robot should then create a .script file in the /programs folder beside with the .urp files. 
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Do I need to connect the robot or I can just power the controller box and use the teaching pedant?
The robot compiles your program and generates the script file when you execute the program. So you will need a robot arm connected to the controller.
Alternatively, you can load the program in the offline simulator and execute it there.