Learn URSCRIPT with Real Code Examples

URScript is a high-level, interpreted language designed for industrial robotic control.

Supports motion commands, I/O manipulation, and tool control.

Can be used directly on UR robots or via external controllers through network interfaces.

Includes functions for path planning, speed/acceleration control, and robot state monitoring.

Widely used in automation, pick-and-place, collaborative robotics, and research environments.

Joint-space and Cartesian-space movement commands

Waypoints, speed, and acceleration control

Loops, conditionals, and function definitions

Payload and tool control

Network communication for external program control

movel(pose) - linear movement in Cartesian space

movej(joint_positions) - joint-space movement

set_digital_out(pin, state) - control digital output

get_actual_tcp_pose() - read current tool position

sleep(seconds) - pause execution for timing

Single URScript (.script) file or multiple scripts

Define functions for repetitive tasks

Include initialization and shutdown routines

Use global variables for shared data

Optional network scripts for external control

Define robot motion and I/O requirements

Write URScript program with movement commands

Test individual commands via Polyscope

Combine commands into loops and functions

Run full program with safety checks

Beginner: simple point-to-point movement

Intermediate: pick-and-place with I/O control

Advanced: integration with sensors and vision

Expert: collaborative operations with humans

Architect: full automation workflow with external systems

URScript vs Polyscope GUI: code-based vs graphical programming

URScript vs Python+UR API: low-level vs high-level control

URScript vs RAPID (ABB) or KRL (KUKA): vendor-specific scripting

URScript vs PLC ladder logic: robot motion vs industrial control

URScript vs ROS nodes: direct robot vs middleware control

2008 - First Universal Robots UR5 released with URScript support

2012 - UR10 introduced with expanded URScript capabilities

2015 - Polyscope 3.x, enhanced URScript editor

2018 - UR16e and extended I/O support in URScript

2023 - Latest URScript versions with improved API and safety features

TCP - Tool Center Point

Pose - position and orientation in 3D space

I/O - Input/Output signals

URCap - Universal Robots software plugin

Polyscope - UR robot teach pendant interface