Universal Robots Forum

What are the built-in variables in scriptManual?

In The URScript Programming Language manual it is written:

There are also built-in variables and functions that monitor and control I/O and robot movements.

and then each chapter has its own Variables section. Most of these contains only a variable __package__ with Value: 'None', while in module motion some variables have their name and description, e.g. __package__ with Value: 'Motion' or a_joint_default with Value: 1.4. Are these the “built-in variables”? If so, how are they used?

There are no directly accessible built-in variables. Internal variables like TCP offset, position, payload, etc. can be accessed using getter functions.

Variables sections in script manual are side effects of documentation system that builds it.


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