example.UR.script

# will pop up on tablet, "hi" 
# robot must be on and not e-stopped
# For more commands see https://s3-eu-west-1.amazonaws.com/ur-support-site/69271/scriptManual.pdf
def arbitraryname():
    sleep(1.0)
    popup("hi")
    set_digital_out(8, False)
end

send_ur5_commands.py

import socket
import time
HOST = "10.75.15.199"    # The remote host
PORT = 30002              # The same port as used by the server

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))
print("Starting Program")
f = open("example.UR.script", "rb")

l = f.read(1024)
while (l):
    s.send(l)
    l = f.read(1024)
s.close()

print ("Closed connection and received data")

UR.script

# Other possibilities
# e.g. Used for RG2 gripper

def olmia():
    #force0 = 5
    #width0 = 0
    #force1 = 5
    #width1 = 1100
    #force2 = 40
    #width2 = 0
    #force3 = 40
    #width3 = 1100
    ## Turn off supply voltage
    set_tool_voltage(0)
    ## Wait for discharge
    sleep(1.0)
     #popup("hi4")
    # Turn on supply voltage

    set_digital_out(8, False)
    set_digital_out(9, False)
    set_tool_voltage(24)
    ## Wait for RG2 ready
    timeout = 0
    while get_digital_in(9) == False:
        timeout = timeout+1
        # sleep(0.008)
        sleep(0.005)
        if timeout > 100:
            # wait at most 5 secs
            textmsg("breaking")
            break
        end
    end

    count = 0
    textmsg("beginning loop")
    #set_digital_out(8, True)
    set_digital_out(9, False)
    sleep(0.1)
    while True:
        textmsg("count")
        textmsg(count)
    #textmsg(count)
        set_digital_out(8, True)
        #set_digital_out(9, False)
        sleep(0.5)
        #set_digital_out(9, True)
        set_digital_out(8, False)
        sleep(0.5)
    count = count + 1
    end
end