# General Application Help: How do I? **URL:** https://forum.universal-robots.com/c/application-support/45.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [About the General Application Help: How do I? category](https://forum.universal-robots.com/t/about-the-general-application-help-how-do-i-category/13382)
**Author:** [@RobH](https://forum.universal-robots.com/u/RobH)\ **Replies:** 3\ **Last updated:** [November 15, 2021, 11:19pm UTC](https://forum.universal-robots.com/t/about-the-general-application-help-how-do-i-category/13382 "2021-11-15T23:19:40Z")
Have an application-specific question or need guidance from the community on how to deploy your robot? Ask it here! Both Universal Robots Application experts and the UR+ Community are here to answer questions! Examples … --- ## [Can I program the points of a palletizing pattern?](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498)
**Author:** [@ndistefano](https://forum.universal-robots.com/u/ndistefano)\ **Replies:** 2\ **Last updated:** [October 22, 2026, 9:41pm UTC](https://forum.universal-robots.com/t/can-i-program-the-points-of-a-palletizing-pattern/43498 "2026-10-22T21:41:47Z")
Hi. We have an UR10, have this process where we set screws through a palletizing process. At each movement the screwdriver is activated and the screw is set before moving to the next. Simple. The issue is that we us… --- ## [Better method to have an abort function](https://forum.universal-robots.com/t/better-method-to-have-an-abort-function/38991)
**Author:** [@maarten.platteau](https://forum.universal-robots.com/u/maarten.platteau)\ **Replies:** 16\ **Last updated:** [October 22, 2026, 8:38pm UTC](https://forum.universal-robots.com/t/better-method-to-have-an-abort-function/38991 "2026-10-22T20:38:51Z")
Hello, We have several UR10e in our plant. They are all driven by PLC. I have a timeout-timer running in the PLC. When the robot takes too long, I send an abort boolean to the cobot. The method that I currently use i… --- ## [Enlazar encoder a Cobot UR10e](https://forum.universal-robots.com/t/enlazar-encoder-a-cobot-ur10e/43049)
**Author:** [@ignacio.sanchez](https://forum.universal-robots.com/u/ignacio.sanchez)\ **Replies:** 1\ **Last updated:** [October 22, 2026, 8:11pm UTC](https://forum.universal-robots.com/t/enlazar-encoder-a-cobot-ur10e/43049 "2026-10-22T20:11:13Z")
Buen dia. Me ayudarian a por favor decirme la forma correcta de enlace de un encoder marca Autonics modelo E50S83603T24, quiero controla un index externo a traves del cobot y que el cobot mande la señal de home y si yo … --- ## [Comunication plc allen bradley and cobot ur10e](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892)
**Author:** [@anon66183488](https://forum.universal-robots.com/u/anon66183488)\ **Replies:** 1\ **Last updated:** [October 5, 2026, 6:44am UTC](https://forum.universal-robots.com/t/comunication-plc-allen-bradley-and-cobot-ur10e/22892 "2026-10-05T06:44:53Z")
Good Morning we have a cobot UR10e connecte with ethernet with 1769-l33erm of allen bradley , the plc is the master , we use the eds file to active at plc , we send the severals program … --- ## [Integrating UR robots with Path planners and collision checkers: Tips & Tricks](https://forum.universal-robots.com/t/integrating-ur-robots-with-path-planners-and-collision-checkers-tips-tricks/42115)
**Author:** [@osn](https://forum.universal-robots.com/u/osn)\ **Replies:** 1\ **Last updated:** [October 2, 2026, 9:31am UTC](https://forum.universal-robots.com/t/integrating-ur-robots-with-path-planners-and-collision-checkers-tips-tricks/42115 "2026-10-02T09:31:51Z")
Hi, Here are a few tips for integrating the UR robots with path planners (MoveIt, OMPL, cuRobo, etc.) Safety Planes The UR robots have configurable safety planes. The safety planes are checked against the elbow sphere… --- ## [Sanding cobot precision](https://forum.universal-robots.com/t/sanding-cobot-precision/43272)
**Author:** [@alexandru.lebada](https://forum.universal-robots.com/u/alexandru.lebada)\ **Replies:** 4\ **Last updated:** [September 24, 2026, 6:13am UTC](https://forum.universal-robots.com/t/sanding-cobot-precision/43272 "2026-09-24T06:13:23Z")
Good evening, I’m working on a wood sanding application using a UR cobot, Mirka 350s tool and an FT sensor which has a resolution near 0.1N, where my sanding force is 10-20N. I’m not sure which UR to choose, 5 or 10, be… --- ## [Can I make a position relative to another position?](https://forum.universal-robots.com/t/can-i-make-a-position-relative-to-another-position/43352)
**Author:** [@ndistefano](https://forum.universal-robots.com/u/ndistefano)\ **Replies:** 2\ **Last updated:** [September 21, 2026, 3:45pm UTC](https://forum.universal-robots.com/t/can-i-make-a-position-relative-to-another-position/43352 "2026-09-21T15:45:36Z")
I have a UR 10. My robot places pieces inside a box, alternating their direction by 180 degrees. Piece 1 faces right, piece 2 faces left. The EOAT goes above box 1 at either position a or b (aBox1a & aBox1b) and goes… --- ## [Code Guidelines and Standards for Robot Programs? How Do You Handle This?](https://forum.universal-robots.com/t/code-guidelines-and-standards-for-robot-programs-how-do-you-handle-this/43302)
**Author:** [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Replies:** 6\ **Last updated:** [September 16, 2026, 5:08pm UTC](https://forum.universal-robots.com/t/code-guidelines-and-standards-for-robot-programs-how-do-you-handle-this/43302 "2026-09-16T17:08:54Z")
Hi everyone, ▶ Coding guidelines in my Background as an SW Engineer This got me wondering: How do people approach this when programming or teaching robot applications? Do you have coding guidelines for robot programs? D… --- ## [Looking for Robot Project management and Backup Solutions](https://forum.universal-robots.com/t/looking-for-robot-project-management-and-backup-solutions/43150)
**Author:** [@robin\_gdwl](https://forum.universal-robots.com/u/robin_gdwl)\ **Replies:** 2\ **Last updated:** [September 4, 2026, 2:23pm UTC](https://forum.universal-robots.com/t/looking-for-robot-project-management-and-backup-solutions/43150 "2026-09-04T14:23:48Z")
Hello, I am currently in the process of documenting a multi-robot setup. This process is fully manual for now. Robots are backed up via usb, and documentation is generated with a mix of excel tables, plc-exports, pdfs a… --- ## [How do other integrators handle handing over UR programs and passwords after SAT?](https://forum.universal-robots.com/t/how-do-other-integrators-handle-handing-over-ur-programs-and-passwords-after-sat/43248)
**Author:** [@Lasse](https://forum.universal-robots.com/u/Lasse)\ **Replies:** 7\ **Last updated:** [September 2, 2026, 7:08am UTC](https://forum.universal-robots.com/t/how-do-other-integrators-handle-handing-over-ur-programs-and-passwords-after-sat/43248 "2026-09-02T07:08:52Z")
Hi everyone, I would like to hear how other UR integrators handle requests from customers who want full access to the robot after SAT. In our case, this may include: UR program files, installation files and scripts A… --- ## [How to monitor Control Box Temperature](https://forum.universal-robots.com/t/how-to-monitor-control-box-temperature/43165)
**Author:** [@Dan-UR](https://forum.universal-robots.com/u/Dan-UR)\ **Replies:** 0\ **Last updated:** [August 6, 2026, 8:00am UTC](https://forum.universal-robots.com/t/how-to-monitor-control-box-temperature/43165 "2026-08-06T08:00:52Z")
Related to Error code C742 Control Box temperature: C742 Control Box temperature In some applications it is desired to monitor the Control Box temperature, such that preventive action can be taken before the robot stops… --- ## [Inquiry Regarding the UR5 Robotiq Gripper Connection Issue](https://forum.universal-robots.com/t/inquiry-regarding-the-ur5-robotiq-gripper-connection-issue/43140)
**Author:** [@jmlee](https://forum.universal-robots.com/u/jmlee)\ **Replies:** 6\ **Last updated:** [August 6, 2026, 5:36am UTC](https://forum.universal-robots.com/t/inquiry-regarding-the-ur5-robotiq-gripper-connection-issue/43140 "2026-08-06T05:36:52Z")
A Robotiq gripper was attached to the UR5 robot arm tool. At this time, even scanning with Robotiq Gripper using URCap fails to find it, and the log window shows an error stating “Unhandled exception occurred in URCap ‘R… --- ## [How to modify Z height of pallet plane?](https://forum.universal-robots.com/t/how-to-modify-z-height-of-pallet-plane/43093)
**Author:** [@cflynn](https://forum.universal-robots.com/u/cflynn)\ **Replies:** 1\ **Last updated:** [July 20, 2026, 4:14pm UTC](https://forum.universal-robots.com/t/how-to-modify-z-height-of-pallet-plane/43093 "2026-07-20T16:14:54Z")
I have a pallet routine set up in a plane and want to apply this same routine to a number of different rows of similar X Y coordinates but different Z height. For example, Corner 1 on row 2 would be the same X Y but abou… --- ## [How to remove the pause at the end of every weld](https://forum.universal-robots.com/t/how-to-remove-the-pause-at-the-end-of-every-weld/42862)
**Author:** [@ameeks](https://forum.universal-robots.com/u/ameeks)\ **Replies:** 6\ **Last updated:** [July 10, 2026, 4:23pm UTC](https://forum.universal-robots.com/t/how-to-remove-the-pause-at-the-end-of-every-weld/42862 "2026-07-10T16:23:17Z")
Hello all, I am looking to speed up some programs and am having trouble finding what is causing the robot to “pause” after every weld for about a second. I am working with UR10 robots with a Fronius power supply. Is thi… --- ## [Has anyone used RoboMon, and if so is it worth the money?](https://forum.universal-robots.com/t/has-anyone-used-robomon-and-if-so-is-it-worth-the-money/42997)
**Author:** [@ameeks](https://forum.universal-robots.com/u/ameeks)\ **Replies:** 0\ **Last updated:** [June 25, 2026, 12:36pm UTC](https://forum.universal-robots.com/t/has-anyone-used-robomon-and-if-so-is-it-worth-the-money/42997 "2026-06-25T12:36:23Z")
Hey all, We have about 10 UR10e welding cobots that we would like to be able to remote monitor for efficiency and to predict when PM will need to be done. Have any of you used RoboMon and did you like its functionality? … --- ## [How do I use the RTDE with Python?](https://forum.universal-robots.com/t/how-do-i-use-the-rtde-with-python/25401)
**Author:** [@anon90789744](https://forum.universal-robots.com/u/anon90789744)\ **Replies:** 9\ **Last updated:** [June 17, 2026, 11:24pm UTC](https://forum.universal-robots.com/t/how-do-i-use-the-rtde-with-python/25401 "2026-06-17T23:24:25Z")
I have been trying to understand the RTDE, following the guides and example code but I do not understand how to implement the RTDE in such a way that I can read a signal from the UR cobot. I am completely lost. --- ## [Handshake Logic](https://forum.universal-robots.com/t/handshake-logic/42898)
**Author:** [@award](https://forum.universal-robots.com/u/award)\ **Replies:** 6\ **Last updated:** [June 17, 2026, 2:28pm UTC](https://forum.universal-robots.com/t/handshake-logic/42898 "2026-06-17T14:28:26Z")
Hello, I am using a UR 10E to weld 2 separate stations, station A and station B. I want to be able to use two separate buttons on either station to tell the robot that station A or B is ready. While station A is welding … --- ## [Getting logic program in Polyscope X](https://forum.universal-robots.com/t/getting-logic-program-in-polyscope-x/42921)
**Author:** [@hari](https://forum.universal-robots.com/u/hari)\ **Replies:** 1\ **Last updated:** [June 15, 2026, 2:52pm UTC](https://forum.universal-robots.com/t/getting-logic-program-in-polyscope-x/42921 "2026-06-15T14:52:36Z")
Hi, I am currently using a UR7e robot running a Polyscope X 10.13 version. I have an application where the robot has to communicate with a Siemens PLC. For that, I want to explore the possibilities of using the logic pr… --- ## [Auto Power On UR5e](https://forum.universal-robots.com/t/auto-power-on-ur5e/16468)
**Author:** [@krisrolfson](https://forum.universal-robots.com/u/krisrolfson)\ **Replies:** 10\ **Last updated:** [May 8, 2026, 3:26am UTC](https://forum.universal-robots.com/t/auto-power-on-ur5e/16468 "2026-05-08T03:26:01Z")
Is it possible that when the UR5e is plugged into power, the teach pendant automatically starts? Currently we manually plug in the cobot and then have to press the teach pendant button to start the boot process. We don’… --- ## [Safely homing - Polyscope X](https://forum.universal-robots.com/t/safely-homing-polyscope-x/42550)
**Author:** [@Lasse](https://forum.universal-robots.com/u/Lasse)\ **Replies:** 2\ **Last updated:** [April 24, 2026, 7:47am UTC](https://forum.universal-robots.com/t/safely-homing-polyscope-x/42550 "2026-04-24T07:47:15Z")
We are currently working on multiple robot-cells with Poly X UR20’s. A thing i cannot wrap my head around is, how are the customers supposed to home the robot, if anything happens, like the robot crashing or they need t… --- ## [Relative movement on part pickup](https://forum.universal-robots.com/t/relative-movement-on-part-pickup/42468)
**Author:** [@randy.gerding](https://forum.universal-robots.com/u/randy.gerding)\ **Replies:** 2\ **Last updated:** [April 16, 2026, 10:31am UTC](https://forum.universal-robots.com/t/relative-movement-on-part-pickup/42468 "2026-04-16T10:31:18Z")
I have a CNC pick and place application that uses a UR10e with a robotiq hand-e gripper to place parts into and out of a CNC machine. When I pick up parts, I’m using the UR palletizing routine. What I’d like to do is u… --- ## [Unexpected behaviour from a new TCP](https://forum.universal-robots.com/t/unexpected-behaviour-from-a-new-tcp/42610)
**Author:** [@sakari.salmi](https://forum.universal-robots.com/u/sakari.salmi)\ **Replies:** 2\ **Last updated:** [April 15, 2026, 1:38pm UTC](https://forum.universal-robots.com/t/unexpected-behaviour-from-a-new-tcp/42610 "2026-04-15T13:38:41Z")
Hi, I have an existing program which I would like to modify so that all the waypoints are moved e.g 20 millimeters along the Y-axis. I figured this would be easiest to do by creating a new TCP for this program alone. I… --- ## [Programming an OnRobot Orbital sander w/o the Hex force adapter](https://forum.universal-robots.com/t/programming-an-onrobot-orbital-sander-w-o-the-hex-force-adapter/42559)
**Author:** [@andrew.hail](https://forum.universal-robots.com/u/andrew.hail)\ **Replies:** 2\ **Last updated:** [April 7, 2026, 4:40pm UTC](https://forum.universal-robots.com/t/programming-an-onrobot-orbital-sander-w-o-the-hex-force-adapter/42559 "2026-04-07T16:40:58Z")
My company is looking to use one of our UR10E with QC hub and an OnRobot orbital sander to perform sanding on various metal parts. I am currently attempting to work around the lack of the Hex adapter with the on pendant … --- ## [NullPointerException Error](https://forum.universal-robots.com/t/nullpointerexception-error/42495)
**Author:** [@mmeyer](https://forum.universal-robots.com/u/mmeyer)\ **Replies:** 2\ **Last updated:** [April 2, 2026, 7:07pm UTC](https://forum.universal-robots.com/t/nullpointerexception-error/42495 "2026-04-02T19:07:49Z")
I’ve recently been having an issue on our cobot that I haven’t seen before. I am making a relatively large program that calls smaller individual subprograms, but there are a few subprograms that are giving me some issues… --- ## [Delta PLC with Universal Robot](https://forum.universal-robots.com/t/delta-plc-with-universal-robot/27186)
**Author:** [@vineeth1](https://forum.universal-robots.com/u/vineeth1)\ **Replies:** 3\ **Last updated:** [March 12, 2026, 8:40am UTC](https://forum.universal-robots.com/t/delta-plc-with-universal-robot/27186 "2026-03-12T08:40:13Z")
Hi, Has anyone here worked with Delta PLC with Universal robot? I am looking for help with connection through Modbus and Ethernet IP. I have connection with PLC through modbus and ethernet ip, but the data I send throug… --- ## [What is the difference between UR studio and Polyscope X?](https://forum.universal-robots.com/t/what-is-the-difference-between-ur-studio-and-polyscope-x/42422)
**Author:** [@rslama](https://forum.universal-robots.com/u/rslama)\ **Replies:** 0\ **Last updated:** [March 11, 2026, 6:25pm UTC](https://forum.universal-robots.com/t/what-is-the-difference-between-ur-studio-and-polyscope-x/42422 "2026-03-11T18:25:31Z")
For context, I want to familiarize myself with Universal Robots products and am very much a beginner, but I have much more experience with PLC programming. I don’t have any physical UR robot around to familiarize myself… --- ## [URSim not behaving as physical cobot](https://forum.universal-robots.com/t/ursim-not-behaving-as-physical-cobot/42368)
**Author:** [@abe](https://forum.universal-robots.com/u/abe)\ **Replies:** 0\ **Last updated:** [March 4, 2026, 1:50pm UTC](https://forum.universal-robots.com/t/ursim-not-behaving-as-physical-cobot/42368 "2026-03-04T13:50:18Z")
As a newbie I have some questions about how to make URSim simulate as an actual cobot runs. We have just debugged our URCap until it executes properly on an actual e-series cobot. However now we want to develop it furth… --- ## [Issue with low-force assembly application using Force Mode](https://forum.universal-robots.com/t/issue-with-low-force-assembly-application-using-force-mode/42232)
**Author:** [@newbie](https://forum.universal-robots.com/u/newbie)\ **Replies:** 1\ **Last updated:** [February 12, 2026, 1:10pm UTC](https://forum.universal-robots.com/t/issue-with-low-force-assembly-application-using-force-mode/42232 "2026-02-12T13:10:29Z")
Hello, I am developing a precision assembly application using Force Mode. The process requires the robot to simultaneously apply downward pressure along the Z-axis and a rotational torque around RZ. My process is as fo… --- ## [Sync. features on several robots?](https://forum.universal-robots.com/t/sync-features-on-several-robots/42163)
**Author:** [@bjaj](https://forum.universal-robots.com/u/bjaj)\ **Replies:** 5\ **Last updated:** [February 9, 2026, 6:47am UTC](https://forum.universal-robots.com/t/sync-features-on-several-robots/42163 "2026-02-09T06:47:19Z")
Hi all I have a UR5 robot mounted on a table, and have the table defined as a feature, so when programming I work in the Tables coordinate system (all waypoints in table coordinates). Now we have 2 more robots in diffe… [Next page](https://forum.universal-robots.com/c/application-support/45.md?page=1)