# \#urscript **URL:** https://forum.universal-robots.com/tag/urscript/13.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) --- ## [Thread using too much time](https://forum.universal-robots.com/t/thread-using-too-much-time/36752)
**Author:** [@sam.clayson](https://forum.universal-robots.com/u/sam.clayson)\ **Replies:** 3\ **Last updated:** [October 30, 2024, 9:19am UTC](https://forum.universal-robots.com/t/thread-using-too-much-time/36752 "2024-10-30T09:19:54Z")
Hi all, I’m having some trouble with a thread. I’m using my UR10e to lift parts in and out of a electroplating tank. I use Thread\_1 to calculate the remaining time and display this to the user in the variables on the r… --- ## [Announcing the UR Developer Suite: Your Comprehensive Robotics Development Toolkit](https://forum.universal-robots.com/t/announcing-the-ur-developer-suite-your-comprehensive-robotics-development-toolkit/35101)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 5\ **Last updated:** [July 9, 2024, 1:21pm UTC](https://forum.universal-robots.com/t/announcing-the-ur-developer-suite-your-comprehensive-robotics-development-toolkit/35101 "2024-07-09T13:21:37Z")
Dear Community, We are thrilled to announce the launch of the UR Developer Suite, an all-encompassing collection of tools designed to streamline and enhance your development process with Universal Robots. The UR Develo… --- ## [Request For Comments: Variable length lists](https://forum.universal-robots.com/t/request-for-comments-variable-length-lists/30144)
**Author:** [@mmi](https://forum.universal-robots.com/u/mmi)\ **Replies:** 15\ **Last updated:** [January 26, 2024, 12:46pm UTC](https://forum.universal-robots.com/t/request-for-comments-variable-length-lists/30144 "2024-01-26T12:46:56Z")
Hello Community! Our development team is planning to add support for variable length lists to URScript. Variable length list still needs to declare maximum capacity. Runtime dynamic heap allocations are not allowed due… --- ## [Servoj URScript (abrupt final motion)](https://forum.universal-robots.com/t/servoj-urscript-abrupt-final-motion/8644)
**Author:** [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Replies:** 27\ **Last updated:** [June 5, 2023, 12:51pm UTC](https://forum.universal-robots.com/t/servoj-urscript-abrupt-final-motion/8644 "2023-06-05T12:51:00Z")
Hi everyone, I am using a servoj command to operate the robot, to move from point A to point B. I am not 100% sure I am using the command correctly, because at the end of the motion, robot doesn’t slow down noticeable … --- ## [Max length of string in URScript](https://forum.universal-robots.com/t/max-length-of-string-in-urscript/467)
**Author:** [@anon52467762](https://forum.universal-robots.com/u/anon52467762)\ **Replies:** 2\ **Last updated:** [August 1, 2022, 10:58am UTC](https://forum.universal-robots.com/t/max-length-of-string-in-urscript/467 "2022-08-01T10:58:49Z")
socket\_read\_string() throw error message “The string … is too long for the controller to handle”. I wrote a program to send a long string (1264 char) from server to ur client. what the max length for String? --- ## [URScript program and joint errors - C264A0](https://forum.universal-robots.com/t/urscript-program-and-joint-errors-c264a0/11510)
**Author:** [@anon19565564](https://forum.universal-robots.com/u/anon19565564)\ **Replies:** 13\ **Last updated:** [February 9, 2021, 9:34am UTC](https://forum.universal-robots.com/t/urscript-program-and-joint-errors-c264a0/11510 "2021-02-09T09:34:17Z")
So, we have this program running in UR3 robots. And we got 5(five) time joint (wrist 3) errors! The support isn’t being able to help us, and actually we need help to avoid this kind of errors/situation. They said that … --- ## [Read values from Ur5e built-in force/torque sensor](https://forum.universal-robots.com/t/read-values-from-ur5e-built-in-force-torque-sensor/11804)
**Author:** [@dongting](https://forum.universal-robots.com/u/dongting)\ **Replies:** 1\ **Last updated:** [January 25, 2021, 5:44pm UTC](https://forum.universal-robots.com/t/read-values-from-ur5e-built-in-force-torque-sensor/11804 "2021-01-25T17:44:24Z")
Hi there I just get a new ur5e installed and I am interested in using the built-in force/torque sensor. I am wondering how can I read force from that internal sensor. Should I use get\_tcp\_force() or that sensor can only… --- ## [Data logging from UR robot to PC](https://forum.universal-robots.com/t/data-logging-from-ur-robot-to-pc/3908)
**Author:** [@anon82878149](https://forum.universal-robots.com/u/anon82878149)\ **Replies:** 0\ **Last updated:** [March 21, 2019, 10:18pm UTC](https://forum.universal-robots.com/t/data-logging-from-ur-robot-to-pc/3908 "2019-03-21T22:18:31Z")
This is a tech note I wrote for datalogging from a UR robot to a PC. Example code available from the link. I would appreciate feedback on how it could be improved. Uses URScript for socket connection. C# PC example i… --- ## [Change analog\_out voltage using URScript](https://forum.universal-robots.com/t/change-analog-out-voltage-using-urscript/9763)
**Author:** [@anon11527833](https://forum.universal-robots.com/u/anon11527833)\ **Replies:** 2\ **Last updated:** [November 9, 2020, 2:57pm UTC](https://forum.universal-robots.com/t/change-analog-out-voltage-using-urscript/9763 "2020-11-09T14:57:34Z")
Hello, I am looking for some info on changing the analog\_out voltage via URScript. Would there be some example that you could refer me to? Thank you! Selen --- ## [Reuse method defined in generateScript() many times](https://forum.universal-robots.com/t/reuse-method-defined-in-generatescript-many-times/6010)
**Author:** [@ocohen](https://forum.universal-robots.com/u/ocohen)\ **Replies:** 1\ **Last updated:** [January 7, 2020, 6:25pm UTC](https://forum.universal-robots.com/t/reuse-method-defined-in-generatescript-many-times/6010 "2020-01-07T18:25:57Z")
I am trying to use the writer from generateScript(…) to write a function and call it many times later on. I need the function to receive a pose as parameter. Though writer.defineFunction only accepts the function name, n… --- ## [Orientation error in pose with speedl()](https://forum.universal-robots.com/t/orientation-error-in-pose-with-speedl/5886)
**Author:** [@mvrooij](https://forum.universal-robots.com/u/mvrooij)\ **Replies:** 10\ **Last updated:** [December 30, 2019, 1:10pm UTC](https://forum.universal-robots.com/t/orientation-error-in-pose-with-speedl/5886 "2019-12-30T13:10:52Z")
Dear, I’m trying to figure out how to use speedl(). I’ve attached the script that I’m using. As long as I use speedl() to make a pure translation move, it works perfect. But as soon as I demand a orientation change of t… --- ## [Using command speedl() on joystick](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326)
**Author:** [@anon15593451](https://forum.universal-robots.com/u/anon15593451)\ **Replies:** 2\ **Last updated:** [October 15, 2019, 11:23am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326 "2019-10-15T11:23:27Z")
Hello, I am trying to connect UR5e with 3D joystick. The continuous movement is made with the help of speedl() and speedtool(). But i am facing issues with these commands. robo.speedl(\[-0.0, 0.0327301025391, 0, -0.0, 0… --- ## [Calculate orientation angle -\> RPY versus Rotational vector](https://forum.universal-robots.com/t/calculate-orientation-angle-rpy-versus-rotational-vector/3755)
**Author:** [@anon66058575](https://forum.universal-robots.com/u/anon66058575)\ **Replies:** 4\ **Last updated:** [March 4, 2019, 9:10am UTC](https://forum.universal-robots.com/t/calculate-orientation-angle-rpy-versus-rotational-vector/3755 "2019-03-04T09:10:43Z")
Hello, I have a question regarding the calculation of angles. when i use the command ‘get\_actual\_tcp\_pose’ , six elements get displayed. so i want to know what are the angles of last three Rotational elements in (Degre… --- ## [Directly index only X coordinate of a Pose variable](https://forum.universal-robots.com/t/directly-index-only-x-coordinate-of-a-pose-variable/3342)
**Author:** [@anon56349523](https://forum.universal-robots.com/u/anon56349523)\ **Replies:** 5\ **Last updated:** [December 31, 2018, 6:18pm UTC](https://forum.universal-robots.com/t/directly-index-only-x-coordinate-of-a-pose-variable/3342 "2018-12-31T18:18:12Z")
Hi, I would like to know if is it normal that I can’t use directly the coordinate of a pose If I affect it in a variable example : var\_1=Waypoint\_1\[0\] -\> It returns all the coordinate of the waypoint. If i want … --- ## [Recreate jog functions of Polyscope's Move buttons using another programming language](https://forum.universal-robots.com/t/recreate-jog-functions-of-polyscopes-move-buttons-using-another-programming-language/3289)
**Author:** [@anon6555566](https://forum.universal-robots.com/u/anon6555566)\ **Replies:** 2\ **Last updated:** [December 12, 2018, 12:54pm UTC](https://forum.universal-robots.com/t/recreate-jog-functions-of-polyscopes-move-buttons-using-another-programming-language/3289 "2018-12-12T12:54:05Z")
Hi， I want to use other programming languages like C++ or C# to write control interfaces instead of moving buttons on the teach pendant like the red box on the picture. But I don’t know how the teach pendant’s control … --- ## [Use a ProgramNode to call a URScript file](https://forum.universal-robots.com/t/use-a-programnode-to-call-a-urscript-file/2966)
**Author:** [@jc1](https://forum.universal-robots.com/u/jc1)\ **Replies:** 3\ **Last updated:** [November 1, 2018, 7:40am UTC](https://forum.universal-robots.com/t/use-a-programnode-to-call-a-urscript-file/2966 "2018-11-01T07:40:34Z")
Hi Developers, I need from my URCap to insert some defined scripts files in the Treenodes, but there is no scriptNode in the ProgramNode interface. Is there a work around that? Best Jens --- ## [Problems with length of array](https://forum.universal-robots.com/t/problems-with-length-of-array/2375)
**Author:** [@anon53303193](https://forum.universal-robots.com/u/anon53303193)\ **Replies:** 3\ **Last updated:** [August 2, 2018, 6:59pm UTC](https://forum.universal-robots.com/t/problems-with-length-of-array/2375 "2018-08-02T18:59:48Z")
I’m currently working on a program, where I have created an array containing all the points the robot needs. Since some point are evaluated based on other points, the program will generate these. Currently, there are app… --- ## [Change Plane Feature during program run execution](https://forum.universal-robots.com/t/change-plane-feature-during-program-run-execution/1735)
**Author:** [@anon22097306](https://forum.universal-robots.com/u/anon22097306)\ **Replies:** 10\ **Last updated:** [March 28, 2018, 5:20am UTC](https://forum.universal-robots.com/t/change-plane-feature-during-program-run-execution/1735 "2018-03-28T05:20:59Z")
Hello everyone! I would like to change a plane feature during program run. In the Installation tab, under the plane feautre, the three points of the plane can be variable, but if I change them in the program it doesn’t … --- ## [C-API vs Urscript](https://forum.universal-robots.com/t/c-api-vs-urscript/1649)
**Author:** [@anon86511138](https://forum.universal-robots.com/u/anon86511138)\ **Replies:** 2\ **Last updated:** [February 20, 2018, 1:19pm UTC](https://forum.universal-robots.com/t/c-api-vs-urscript/1649 "2018-02-20T13:19:03Z")
Hi there, i want to write a desktop program to control an ur5 for simple pick and place tasks. Now, i understand i can use UrScript commands and send them over TCP/IP on the real time client interface to the robot. By d… --- ## [How to convert URScript to Polyscopr .urp program](https://forum.universal-robots.com/t/how-to-convert-urscript-to-polyscopr-urp-program/1494)
**Author:** [@daniele.genero](https://forum.universal-robots.com/u/daniele.genero)\ **Replies:** 2\ **Last updated:** [January 21, 2018, 4:41pm UTC](https://forum.universal-robots.com/t/how-to-convert-urscript-to-polyscopr-urp-program/1494 "2018-01-21T16:41:21Z")
Hi all, how to conver an ur script in a URP file? Thanks --- ## [Call OnRobot URCap URScript function from a custom URScript function](https://forum.universal-robots.com/t/call-onrobot-urcap-urscript-function-from-a-custom-urscript-function/1308)
**Author:** [@anon30016229](https://forum.universal-robots.com/u/anon30016229)\ **Replies:** 1\ **Last updated:** [November 8, 2017, 8:51pm UTC](https://forum.universal-robots.com/t/call-onrobot-urcap-urscript-function-from-a-custom-urscript-function/1308 "2017-11-08T20:51:52Z")
Hi. I am sending script code via ethernet to my robot. Can I call a URCap function (Specifically RG2(0) for the OnRobot gripper) from the script? I have tried: def myProg(): RG2(0) end but that doesnt work. I have… --- ## [Move the Robot / Use URScript without Program node Layout / Polyscope](https://forum.universal-robots.com/t/move-the-robot-use-urscript-without-program-node-layout-polyscope/1269)
**Author:** [@anon4621714](https://forum.universal-robots.com/u/anon4621714)\ **Replies:** 5\ **Last updated:** [October 26, 2017, 2:01pm UTC](https://forum.universal-robots.com/t/move-the-robot-use-urscript-without-program-node-layout-polyscope/1269 "2017-10-26T14:01:29Z")
Hello everybody, can anyone answer my question?!! is it possible to run the URScript directly without going through the program node (Program node’s layout)? what I mean if it is Possible when I press on my Button (th… --- ## [Move position with offset: Error : Must be a pose, not 'List'](https://forum.universal-robots.com/t/move-position-with-offset-error-must-be-a-pose-not-list/1226)
**Author:** [@thierry.bourgeois](https://forum.universal-robots.com/u/thierry.bourgeois)\ **Replies:** 3\ **Last updated:** [October 12, 2017, 7:53am UTC](https://forum.universal-robots.com/t/move-position-with-offset-error-must-be-a-pose-not-list/1226 "2017-10-12T07:53:49Z")
Hello, I need to change the actual position with a certain value (xyz offset, for exemple y-0.2) into UR3/CB3/Polyscope/Program: Program BeforeStart pos\_cur≔get\_actual\_joint\_positions()\* Robot Program pos\_new1≔pose… --- ## [Run URScript without PolyScope](https://forum.universal-robots.com/t/run-urscript-without-polyscope/1152)
**Author:** [@anon28553715](https://forum.universal-robots.com/u/anon28553715)\ **Replies:** 1\ **Last updated:** [September 6, 2017, 7:17am UTC](https://forum.universal-robots.com/t/run-urscript-without-polyscope/1152 "2017-09-06T07:17:05Z")
Refering to Is it possible to run URScript without PolyScope started in the UR Control Box ? I mean, is PolyScope “just” a GUI / HMI to configure/to start UR robot program ? --- ## [Pose\_trans() implementation, implementing Feature Wizard](https://forum.universal-robots.com/t/pose-trans-implementation-implementing-feature-wizard/1008)
**Author:** [@anon58863070](https://forum.universal-robots.com/u/anon58863070)\ **Replies:** 4\ **Last updated:** [July 25, 2017, 10:25am UTC](https://forum.universal-robots.com/t/pose-trans-implementation-implementing-feature-wizard/1008 "2017-07-25T10:25:57Z")
Hi, I need to re-implement the pose\_trans function, but I can’t figure how it really work. I first tried to “matrix multipliate” my vector with all the rotations of the first pose argument, but results don’t match when… --- ## [Conveyer Tracking Theory - under the hood](https://forum.universal-robots.com/t/conveyer-tracking-theory-under-the-hood/187)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 5\ **Last updated:** [August 30, 2016, 2:26pm UTC](https://forum.universal-robots.com/t/conveyer-tracking-theory-under-the-hood/187 "2016-08-30T14:26:03Z")
How exactly works the conveyer tracking node under the hood ? I can record and playback a path with servoj calls but I obtain strange things when playing my path inside a conveyer tracking node. I play the servoj at 10… --- ## [TCP limit of 500mm in Polyscope](https://forum.universal-robots.com/t/tcp-limit-of-500mm-in-polyscope/485)
**Author:** [@anon67492748](https://forum.universal-robots.com/u/anon67492748)\ **Replies:** 1\ **Last updated:** [January 21, 2017, 8:27pm UTC](https://forum.universal-robots.com/t/tcp-limit-of-500mm-in-polyscope/485 "2017-01-21T20:27:10Z")
I’m working on a bin picking application with a UR5 in which I have a long suction gripper that is around 550mm long. I’m not able to set this value on the teach pendant. Why does this limit exist?