# Product Wishlist **URL:** https://forum.universal-robots.com/c/product-wishlist/11.md?page=3 [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) **Page:** 4 --- ## [Allow Freedrive after Collision](https://forum.universal-robots.com/t/allow-freedrive-after-collision/21380)
**Author:** [@anon47890902](https://forum.universal-robots.com/u/anon47890902)\ **Replies:** 4\ **Last updated:** [June 7, 2022, 1:09pm UTC](https://forum.universal-robots.com/t/allow-freedrive-after-collision/21380 "2022-06-07T13:09:12Z")
Summary Use External/Internal Freedrive button to close safety popups. Hence, allowing to move the Cobot away when beeing clamped. What is it? This functionality allows the operator to get out of a clamped situation, wh… --- ## [Access the Safety IO function assignments in URCaps API](https://forum.universal-robots.com/t/access-the-safety-io-function-assignments-in-urcaps-api/21637)
**Author:** [@anon62734967](https://forum.universal-robots.com/u/anon62734967)\ **Replies:** 0\ **Last updated:** [May 31, 2022, 7:02am UTC](https://forum.universal-robots.com/t/access-the-safety-io-function-assignments-in-urcaps-api/21637 "2022-05-31T07:02:56Z")
Summary Access the Safety IO function assignments in URCaps API. What is it? Currently there is no function to access the ‘function assignments’ configuration of the safety IO channels. For example, it is not possible t… --- ## [Set preferred pose/configuration for stability through singularity](https://forum.universal-robots.com/t/set-preferred-pose-configuration-for-stability-through-singularity/5477)
**Author:** [@matthew](https://forum.universal-robots.com/u/matthew)\ **Replies:** 3\ **Last updated:** [May 24, 2022, 12:37pm UTC](https://forum.universal-robots.com/t/set-preferred-pose-configuration-for-stability-through-singularity/5477 "2022-05-24T12:37:20Z")
I would like to request a feature to change the preferred pose of the robot to avoid overspeeds and sanity check failures when passing through a singularity. We frequently experience nuisance programming and integration… --- ## [Get TCP position relative to a user made feature plane](https://forum.universal-robots.com/t/get-tcp-position-relative-to-a-user-made-feature-plane/21447)
**Author:** [@anon43903668](https://forum.universal-robots.com/u/anon43903668)\ **Replies:** 4\ **Last updated:** [May 23, 2022, 2:22pm UTC](https://forum.universal-robots.com/t/get-tcp-position-relative-to-a-user-made-feature-plane/21447 "2022-05-23T14:22:05Z")
Would like a script command to read the current TCP relative to a user coordinate plane. Ex. I am picking parts from a table setup in a grid. For this application I will most likely create a feature plane of the pick ta… --- ## [Turn outputs on/off based on robot position using feature planes](https://forum.universal-robots.com/t/turn-outputs-on-off-based-on-robot-position-using-feature-planes/21446)
**Author:** [@anon43903668](https://forum.universal-robots.com/u/anon43903668)\ **Replies:** 0\ **Last updated:** [May 19, 2022, 5:38pm UTC](https://forum.universal-robots.com/t/turn-outputs-on-off-based-on-robot-position-using-feature-planes/21446 "2022-05-19T17:38:02Z")
I need a way to turn a digital output on/off using feature planes. I realize this can be done in a program using a thread. But, I think this should be an option for a configurable output. I am looking for the output to c… --- ## [Add Function "Until Contact" to Move Tab](https://forum.universal-robots.com/t/add-function-until-contact-to-move-tab/16143)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 19\ **Last updated:** [May 17, 2022, 12:02pm UTC](https://forum.universal-robots.com/t/add-function-until-contact-to-move-tab/16143 "2022-05-17T12:02:30Z")
Would like a feature added to the Move tab that acts similar to the Direction node where it will automagically stop when it contacts an object. Basically it would allow the user to move the TCP using the Arrows in the M… --- ## [Program date/time Filter](https://forum.universal-robots.com/t/program-date-time-filter/21235)
**Author:** [@roman.reiner](https://forum.universal-robots.com/u/roman.reiner)\ **Replies:** 2\ **Last updated:** [May 11, 2022, 9:14pm UTC](https://forum.universal-robots.com/t/program-date-time-filter/21235 "2022-05-11T21:14:06Z")
Summary Filter programs by date/time of last save in file system. What is it? When looking at programs on the teach pendant it would be nice to know when the last changes were made to a program. Why is it needed? This … --- ## [Keyboard Shortcuts](https://forum.universal-robots.com/t/keyboard-shortcuts/804)
**Author:** [@anon14624655](https://forum.universal-robots.com/u/anon14624655)\ **Replies:** 2\ **Last updated:** [May 6, 2022, 12:40pm UTC](https://forum.universal-robots.com/t/keyboard-shortcuts/804 "2022-05-06T12:40:40Z")
Add common keyboard shortcuts to speed up the robot programming. For example, enable the followings (or similar key bindings) for the selected element: copy: ctrl+c paste: ctrl+v cut: ctrl+x delete: del suppress: c… --- ## [Get\_target\_tool\_flange\_pose()](https://forum.universal-robots.com/t/get-target-tool-flange-pose/20899)
**Author:** [@anon66763173](https://forum.universal-robots.com/u/anon66763173)\ **Replies:** 0\ **Last updated:** [April 27, 2022, 3:09pm UTC](https://forum.universal-robots.com/t/get-target-tool-flange-pose/20899 "2022-04-27T15:09:10Z")
Summary Create the supplement function get\_target\_tool\_flange\_pose() similar to get\_actual\_tool\_flange\_pose() What is it? The function get\_target\_tool\_flange\_pose() will return the position of the tool flange in \[x,y,z,… --- ## [\[IMPLEMENTED\] Alternative input (virtual keyboard) for text field](https://forum.universal-robots.com/t/implemented-alternative-input-virtual-keyboard-for-text-field/406)
**Author:** [@anon87661449](https://forum.universal-robots.com/u/anon87661449)\ **Replies:** 10\ **Last updated:** [April 19, 2022, 1:39pm UTC](https://forum.universal-robots.com/t/implemented-alternative-input-virtual-keyboard-for-text-field/406 "2022-04-19T13:39:56Z")
Is it possible to switch the virtual keyboard used for input text in a text field in my URCap? The keyboard which is used is not good when I want to edit some existing text. It is not possible to move the caret, it alwa… --- ## [Resizable Command window](https://forum.universal-robots.com/t/resizable-command-window/20571)
**Author:** [@oliver.ege](https://forum.universal-robots.com/u/oliver.ege)\ **Replies:** 1\ **Last updated:** [April 14, 2022, 9:56am UTC](https://forum.universal-robots.com/t/resizable-command-window/20571 "2022-04-14T09:56:25Z")
Summary It would be great to be able to resize the Command/Graphics/Variables instead of choosing between showing it or hiding it. What is it? If you drag this button to the left or the right the windows should resiz… --- ## [Status of LOCAL/ REMOTE via Profinet](https://forum.universal-robots.com/t/status-of-local-remote-via-profinet/20586)
**Author:** [@kadams](https://forum.universal-robots.com/u/kadams)\ **Replies:** 0\ **Last updated:** [April 14, 2022, 7:14am UTC](https://forum.universal-robots.com/t/status-of-local-remote-via-profinet/20586 "2022-04-14T07:14:25Z")
I´m struggling since weeks to get a nice communication between my Siemens PLC and the Dashboard Server. If the UR is in Remote and the connection is established (from Siemens site via TCON) the procedure is OK. BUT if … --- ## [Feature request: ur+ sdk repositories on mvnrepository.com](https://forum.universal-robots.com/t/feature-request-ur-sdk-repositories-on-mvnrepository-com/20369)
**Author:** [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Replies:** 0\ **Last updated:** [April 5, 2022, 7:25am UTC](https://forum.universal-robots.com/t/feature-request-ur-sdk-repositories-on-mvnrepository-com/20369 "2022-04-05T07:25:38Z")
Summary I hope that ur+ sdk repositories is uploaded into mvnrepository.com. What is it? We can develop the urcaps by writing ur+ dependency into pom.xml without installation. And it is easy to develop on windows, too. … --- ## [Read the real joint limit and safety configuration from remote server](https://forum.universal-robots.com/t/read-the-real-joint-limit-and-safety-configuration-from-remote-server/20362)
**Author:** [@zhenyu.li](https://forum.universal-robots.com/u/zhenyu.li)\ **Replies:** 0\ **Last updated:** [April 4, 2022, 10:13pm UTC](https://forum.universal-robots.com/t/read-the-real-joint-limit-and-safety-configuration-from-remote-server/20362 "2022-04-04T22:13:46Z")
Everytime a program started, it want check if the joint limit or safety configuration is expected. If not, the program can pop up error message and let operator to fix it. Now, looks like only the max programable joint … --- ## [Move with Offset](https://forum.universal-robots.com/t/move-with-offset/19528)
**Author:** [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\ **Replies:** 21\ **Last updated:** [March 17, 2022, 11:20am UTC](https://forum.universal-robots.com/t/move-with-offset/19528 "2022-03-17T11:20:17Z")
The ability to add an offset to a waypoint Summary What is it? The ability to easily add Positional offsets to waypoints in Polyscope. Why is it needed? The current options for offsetting positions is very confusing… --- ## [Create a new URScript to identify UR type (e.g. UR5, UR10e)](https://forum.universal-robots.com/t/create-a-new-urscript-to-identify-ur-type-e-g-ur5-ur10e/19622)
**Author:** [@takahiro.baba](https://forum.universal-robots.com/u/takahiro.baba)\ **Replies:** 2\ **Last updated:** [March 4, 2022, 4:16am UTC](https://forum.universal-robots.com/t/create-a-new-urscript-to-identify-ur-type-e-g-ur5-ur10e/19622 "2022-03-04T04:16:42Z")
Summary \*Create a new URScript command to identify UR type (e.g. UR5, UR10e) to let user have capability to know UR type What is it? \*New URScript command (e.g. get\_ur\_type()) returns a number meaning UR type. Here is … --- ## [Ethernet IP Scanner / Profinet Master](https://forum.universal-robots.com/t/ethernet-ip-scanner-profinet-master/1810)
**Author:** [@anon16563805](https://forum.universal-robots.com/u/anon16563805)\ **Replies:** 6\ **Last updated:** [February 28, 2022, 12:44pm UTC](https://forum.universal-robots.com/t/ethernet-ip-scanner-profinet-master/1810 "2022-02-28T12:44:59Z")
Hi there, are there some plans from UR to use the Robot Controller as Ethernet IP-Scanner or Profinet-Master? Greetings --- ## [Make speed adjustment bar wider](https://forum.universal-robots.com/t/make-speed-adjustment-bar-wider/16004)
**Author:** [@nnaylor](https://forum.universal-robots.com/u/nnaylor)\ **Replies:** 2\ **Last updated:** [February 28, 2022, 12:18pm UTC](https://forum.universal-robots.com/t/make-speed-adjustment-bar-wider/16004 "2022-02-28T12:18:07Z")
Summary CB Series Make the speed adjustment bar wider What is it? There’s plenty of space on the bottom where the bar is to make it wider, therefore easier to hone in on specific speed. Why is it needed? Bar is hard t… --- ## [Feature Request: Call a KeyboardInput for expressions](https://forum.universal-robots.com/t/feature-request-call-a-keyboardinput-for-expressions/3172)
**Author:** [@anon27046260](https://forum.universal-robots.com/u/anon27046260)\ **Replies:** 12\ **Last updated:** [February 23, 2022, 3:11pm UTC](https://forum.universal-robots.com/t/feature-request-call-a-keyboardinput-for-expressions/3172 "2022-02-23T15:11:37Z")
(Following this discussion : Is there a way to create KeyboardInput for expressions? - #3 by benjamin.guex) It would be quite useful to have the possibility to call this Expression Keyboard : when an user is clickin… --- ## [Using Event just for a part of a program?](https://forum.universal-robots.com/t/using-event-just-for-a-part-of-a-program/19395)
**Author:** [@anon61735657](https://forum.universal-robots.com/u/anon61735657)\ **Replies:** 0\ **Last updated:** [February 21, 2022, 7:26am UTC](https://forum.universal-robots.com/t/using-event-just-for-a-part-of-a-program/19395 "2022-02-21T07:26:46Z")
Hello there! Me and my workmates were just wondering if it’s possible to use Event just for a part of a program instead of doin it for whole one? It’s a handling process where we pick a part using suckers and then drop… --- ## [Change Active (Set) TCP in the Move or Installation -\> TCP Configuration interface](https://forum.universal-robots.com/t/change-active-set-tcp-in-the-move-or-installation-tcp-configuration-interface/7137)
**Author:** [@anon65613222](https://forum.universal-robots.com/u/anon65613222)\ **Replies:** 24\ **Last updated:** [February 17, 2022, 1:58pm UTC](https://forum.universal-robots.com/t/change-active-set-tcp-in-the-move-or-installation-tcp-configuration-interface/7137 "2022-02-17T13:58:46Z")
Hello! We would like the possibility to change the active TCP from the selection of TCPs, without setting it as default or changing the values of the TCP. Background: If an operator or programmer would like to create … --- ## [UR10 CB3.0 to CB3.1](https://forum.universal-robots.com/t/ur10-cb3-0-to-cb3-1/19072)
**Author:** [@452077332](https://forum.universal-robots.com/u/452077332)\ **Replies:** 0\ **Last updated:** [February 6, 2022, 8:10am UTC](https://forum.universal-robots.com/t/ur10-cb3-0-to-cb3-1/19072 "2022-02-06T08:10:04Z")
UR10, replace a motherboard ,URSoftware version from Polyscope 3.1.17336 upgrade to 3.13.0.10253, How can the programs in the old motherboard be migrated to the new motherboard, Thanks！ --- ## [EASY: Rename Loop Counter in Loop Program Node](https://forum.universal-robots.com/t/easy-rename-loop-counter-in-loop-program-node/13846)
**Author:** [@anon14470933](https://forum.universal-robots.com/u/anon14470933)\ **Replies:** 3\ **Last updated:** [February 4, 2022, 12:04pm UTC](https://forum.universal-robots.com/t/easy-rename-loop-counter-in-loop-program-node/13846 "2022-02-04T12:04:58Z")
Summary Add possibility to rename Loop Counter variable in Loop Program Node view What is it? Add possibility to rename Loop Counter variable in Loop Program Node view. This could just be converting the JLabel to a JTex… --- ## [UR Log Viewer to support multiple log\_history.\* files](https://forum.universal-robots.com/t/ur-log-viewer-to-support-multiple-log-history-files/18673)
**Author:** [@takahiro.baba](https://forum.universal-robots.com/u/takahiro.baba)\ **Replies:** 2\ **Last updated:** [January 17, 2022, 2:29am UTC](https://forum.universal-robots.com/t/ur-log-viewer-to-support-multiple-log-history-files/18673 "2022-01-17T02:29:50Z")
Summary Support multiple log\_history.\* files to analyze them at the same time on “Log Reader” tab on UR Log Viewer What is it? “Log Reader” supports to load only 1 log\_history.\* file. I’d like UR to enhance the feature… --- ## [Separation of Sub programs from the main program](https://forum.universal-robots.com/t/separation-of-sub-programs-from-the-main-program/18684)
**Author:** [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\ **Replies:** 1\ **Last updated:** [January 14, 2022, 2:35pm UTC](https://forum.universal-robots.com/t/separation-of-sub-programs-from-the-main-program/18684 "2022-01-14T14:35:46Z")
Summary Sub programs currently get integrated into the main program. Having a large amount of sub programs integrated into the main program make the whole program very large. This has the effect of making the robot stru… --- ## [Calling subprogramm from another subprogramm](https://forum.universal-robots.com/t/calling-subprogramm-from-another-subprogramm/218)
**Author:** [@anon42783929](https://forum.universal-robots.com/u/anon42783929)\ **Replies:** 8\ **Last updated:** [January 11, 2022, 7:23am UTC](https://forum.universal-robots.com/t/calling-subprogramm-from-another-subprogramm/218 "2022-01-11T07:23:04Z")
Hi, it would great to add possibility of calling subprogramm from another subprogramm without having to use scripts. for my application I've got multiple subprogramm each corresponding to a production but in each subpr… --- ## [Suppress or unsuppress all searched for items](https://forum.universal-robots.com/t/suppress-or-unsuppress-all-searched-for-items/18316)
**Author:** [@anon86692930](https://forum.universal-robots.com/u/anon86692930)\ **Replies:** 0\ **Last updated:** [December 22, 2021, 1:58pm UTC](https://forum.universal-robots.com/t/suppress-or-unsuppress-all-searched-for-items/18316 "2021-12-22T13:58:27Z")
Summary Tangent to my last post here, the “expand all, compress all”, another feature I think would be handy would be a “suppress/unsuppress all”. What is it? I want to be able to search for a thing in the search bar an… --- ## [Where is gui.properties located?](https://forum.universal-robots.com/t/where-is-gui-properties-located/18188)
**Author:** [@anon5706138](https://forum.universal-robots.com/u/anon5706138)\ **Replies:** 0\ **Last updated:** [December 15, 2021, 1:20pm UTC](https://forum.universal-robots.com/t/where-is-gui-properties-located/18188 "2021-12-15T13:20:33Z")
Hello, I am trying to upload a URCap to Ursim but it doesn’t get uploaded because Java code has faults. I wanna know where the issue exactly is. In this post, mmi mentions that logs from polyscope are printed to polys… --- ## [More than one reduced mode](https://forum.universal-robots.com/t/more-than-one-reduced-mode/18088)
**Author:** [@LarsHyldal](https://forum.universal-robots.com/u/LarsHyldal)\ **Replies:** 2\ **Last updated:** [December 10, 2021, 10:17am UTC](https://forum.universal-robots.com/t/more-than-one-reduced-mode/18088 "2021-12-10T10:17:26Z")
The robot only has one reduced mode. The wish is to have at least two reduced modes. An easy way to implement triggering the modes without adding a lot of logic could be nesting the modes, so that if you are in normal m… --- ## [Disable home button or allow position change on the home button CB series](https://forum.universal-robots.com/t/disable-home-button-or-allow-position-change-on-the-home-button-cb-series/18026)
**Author:** [@anon59617139](https://forum.universal-robots.com/u/anon59617139)\ **Replies:** 2\ **Last updated:** [December 8, 2021, 6:46pm UTC](https://forum.universal-robots.com/t/disable-home-button-or-allow-position-change-on-the-home-button-cb-series/18026 "2021-12-08T18:46:43Z")
Disable home button or allow position change on the home button CB series It would be very useful, if on the CB series will be the option, to disable or better, allow position change on the home button in the move tab. … [Previous page](https://forum.universal-robots.com/c/product-wishlist/11.md?page=2) [Next page](https://forum.universal-robots.com/c/product-wishlist/11.md?page=4)