Welcome to the MotionPlus Documentation!

This documentation contains the tutorials and resources needed for UR MotionPlus.

Contents

• MotionPlus Introduction
  • Target Application
  • Target Customer
  • Components
  • Background & Terminology
  • Overview of What’s New
  • Known Limitations
• MotionPlus URCap
  • URCap Design
  • Terminology
  • Installation
  • Export MotionPlus Service Log
  • Installation Tab User Interface
  • XML-RPC Methods
• Servo Setup and Test
  • Overview
  • Steps
  • Script Examples
• Servo Troubleshooting
  • Introduction
  • Problems that Generate Error Codes
  • Types of Faults
  • Problems that don’t generate error codes.
• URScript APIs
  • MotionPlus EtherCAT API
  • MotionPlus Axis Group API
  • World Model API
• World Model
  • Introduction
  • World Model Examples
• URScript Examples
  • MotionPlus
  • World Model
• MotionPlus URCap Errors
  • Error Categories
  • 100-199 XML-RPC client errors
  • 200-299 XML-RPC service errors
  • 300-399 EtherCAT master errors
• FAQ - Frequently Asked Questions
  • What is Coordinated Motion?
  • What is MotionPlus?
  • Which part of MotionPlus is licensed?
  • Is it possible to test run MotionPlus without a license?
  • Does MotionPlus come with hardware?
  • What cobots does MotionPlus work with?
  • What servo drives are supported?
  • If I am a servo drive manufacturer, how do I get my servo drive tested for compatibility with Motion Plus.
  • What happens to the servo drive if the robot experiences a protective stop?
  • What happens to the servo drive motion when the cobot enters reduced mode?
  • Will users be able to set homing, limits, motion profiles within the URCap, rather than in the servo drive?
  • Is the Motion Plus URCap required to use the Coordinated Motion UR Script commands?
  • How many external axes are supported?
  • Is the external axis also collaborative?
  • Does the motion of the external axis work with speed scaling?
  • What happens to the robot motion if the external axis servo drive experiences a fault?
  • What happens to the motion of the external axis if the robot protective stops while performing coordinated motion?
  • Does the log file indicate the root cause - either external axis stop / protective stop or the robot?
  • What are the requirements for an EtherCAT servo to work with Motion Plus?
  • Can I use MotionPlus for indexed motion as well?
  • What URScript commands can jog an external axis?
  • What URScript commands are used for coordinated motion?
  • What is the World Model and how does that work with coordinated motion?
  • Do I need MotionPlus to use the World Model reference frames?
  • What does the World Model support?
  • What is frame tracking and how does it work?
  • What applications use coordinated motion?
• Release Notes
  • Motion Plus 1.1.0 (Release Candidate)

If you need help with MotionPlus, please email support@universal-robots.com