Quick Reference

Axis Group Functions

• Configuring Axis Groups and Kinematics
  • axis_group_add
  • axis_group_delete
  • axis_group_add_axis
  • axis_group_update_axis
• Getting Axis Group and Axis Properties
  • axis_group_get_axis_index
  • axis_group_get_axis_name
  • axis_group_get_target_positions
  • axis_group_get_actual_positions
• Setting Software Axis Offsets
  • axis_group_offset_positions
• Jogging External Axes
  • axis_group_movej
  • axis_group_speedj
• Time Synchronized Robot and Axis Motion
  • movep_with_axis_group
  • movec_with_axis_group
  • movej_with_axis_group
  • movel_with_axis_group
  • servoj_with_axis_group
• Coordinated Axis and Robot Motion
• Axis Group Calibration
  • calibrate_rotary_axis
  • calibrate_linear_axis

EtherCAT Functions

• Configuring Axes on the EtherCAT Network
  • ethercat_config_axis
• Using the EtherCAT Master
  • ethercat_start
  • ethercat_stop
  • ethercat_set_parameter
  • ethercat_is_master_running
  • ethercat_begin_status_monitor
  • ethercat_end_status_monitor
• Enabling/Disabling External Axes
  • ethercat_enable_axis
  • ethercat_disable_axis
  • ethercat_is_axis_enabled
  • ethercat_is_axis_disabled
• Handling Errors and Faults
  • ethercat_clear_error
  • ethercat_is_axis_in_fault_state
  • ethercat_get_axis_errors
  • ethercat_reset_axis_fault
• Homing External Axes
  • ethercat_home_axis
• Get External Axis Positions
  • ethercat_get_axis_positions
• Getting MotionPlus Service Information
  • ethercat_is_service_responsive
• Reading and Writing Services Data Objects (SDO)
  • ethercat_write_axis_sdo
  • ethercat_read_axis_sdo
• Miscellaneous Utility Functions
  • time_sec()

World Model Functions

• Manipulate Coordinate Frames
  • add_frame
  • attach_frame
  • delete_all_frames
  • delete_frame
  • move_frame
• Get Coordinate Frame Properties
  • get_pose
  • convert_pose
  • reset_world_model
  • is_frame
  • get_frame_parent
  • get_children
• Frame Tracking
  • frame_tracking_enable
  • frame_tracking_disable
• Mass Properties
  • set_mass_properties
  • set_payload_from_attached_frames
• Changes to Existing URScript Functions
  • movec - new behavior
  • movej - new behavior
  • movel - new behavior
  • movep - new behavior
  • path_offset_set - new behavior
  • speedl - new behavior