URScript APIs

This section contains the relevant URScript APIs for controlling external axes through EtherCAT. The complete World Model API is freely available without MotionPlus as of Polyscope 5.16.0.

• MotionPlus EtherCAT API
• MotionPlus Axis Group API
• World Model API

Here is a quick reference list of all URScript commands associated with MotionPlus:

• Quick Reference