# Product Wishlist **URL:** https://forum.universal-robots.com/c/product-wishlist/11.md?page=4 [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:** 5 --- ## [Internal Self Guided Preventative Maintenance / Calibration](https://forum.universal-robots.com/t/internal-self-guided-preventative-maintenance-calibration/17694)
**Author:** [@MikeM](https://forum.universal-robots.com/u/MikeM)\ **Replies:** 0\ **Last updated:** [November 19, 2021, 9:12am UTC](https://forum.universal-robots.com/t/internal-self-guided-preventative-maintenance-calibration/17694 "2021-11-19T09:12:32Z")
Not sure if this has already been requested, I apologize if it has. Also not sure if this is even feasible but thought it might make for a neat/useful feature. Summary Simple PM & Robot Calibration Guide that will 1) sh… --- ## [How to read holdings registers with modbus TCP / IP communication](https://forum.universal-robots.com/t/how-to-read-holdings-registers-with-modbus-tcp-ip-communication/17692)
**Author:** [@hpous](https://forum.universal-robots.com/u/hpous)\ **Replies:** 0\ **Last updated:** [November 19, 2021, 7:00am UTC](https://forum.universal-robots.com/t/how-to-read-holdings-registers-with-modbus-tcp-ip-communication/17692 "2021-11-19T07:00:42Z")
I need to read holdings and inputs registers once the program is started using URScript commands. We are designing a URCap which acts as a modbus client and connects with a PLCNext AXC F 2152 as a server. We have to rea… --- ## [Expand/compress all](https://forum.universal-robots.com/t/expand-compress-all/17518)
**Author:** [@anon86692930](https://forum.universal-robots.com/u/anon86692930)\ **Replies:** 4\ **Last updated:** [November 14, 2021, 8:11pm UTC](https://forum.universal-robots.com/t/expand-compress-all/17518 "2021-11-14T20:11:21Z")
Summary An option to “expand all” or “compress all” nodes in a program. What is it? It would be a check box or a radio button at the top of the program, below or next to the search bar that expands the entire program, o… --- ## [Script function to create a Plane with 3 variables points](https://forum.universal-robots.com/t/script-function-to-create-a-plane-with-3-variables-points/6128)
**Author:** [@anon56349523](https://forum.universal-robots.com/u/anon56349523)\ **Replies:** 3\ **Last updated:** [November 12, 2021, 1:26am UTC](https://forum.universal-robots.com/t/script-function-to-create-a-plane-with-3-variables-points/6128 "2021-11-12T01:26:36Z")
Hi, I’m looking for a way to calculate a plane using 3 variables points to allow the robot to reteach a plane which already exist. My problem is that i’m using an automatic motorized robot (AMR) which can’t be precise … --- ## [Step By Step Program control](https://forum.universal-robots.com/t/step-by-step-program-control/14392)
**Author:** [@anon1947322](https://forum.universal-robots.com/u/anon1947322)\ **Replies:** 10\ **Last updated:** [November 11, 2021, 3:42pm UTC](https://forum.universal-robots.com/t/step-by-step-program-control/14392 "2021-11-11T15:42:00Z")
Step by Step Program Control Should be able to run the program line by line, it would make it easier to diagnose faults in the program then having to keep running the program till the fault occurs because the pop up fa… --- ## [Jump Flag Program Node](https://forum.universal-robots.com/t/jump-flag-program-node/17355)
**Author:** [@anon37981104](https://forum.universal-robots.com/u/anon37981104)\ **Replies:** 4\ **Last updated:** [November 8, 2021, 8:07am UTC](https://forum.universal-robots.com/t/jump-flag-program-node/17355 "2021-11-08T08:07:12Z")
Summary Programming feature: jump flag node that can be inserted in the program and then ‘jumped to’ using a jump to flag node. What is it? Other robot manufacturers have the feature jump flags that allows the program t… --- ## [Title in Popup Node](https://forum.universal-robots.com/t/title-in-popup-node/17261)
**Author:** [@dpeva](https://forum.universal-robots.com/u/dpeva)\ **Replies:** 3\ **Last updated:** [October 26, 2021, 5:51pm UTC](https://forum.universal-robots.com/t/title-in-popup-node/17261 "2021-10-26T17:51:05Z")
Provide Title option in Popup node Unless I’m missing something, we currently have to write a script line to include a title in popups: popup(variable, title= “Variable Value is”", blocking = True) It would be nice to … --- ## [Initialize list of x size in URScript](https://forum.universal-robots.com/t/initialize-list-of-x-size-in-urscript/17025)
**Author:** [@anon27398661](https://forum.universal-robots.com/u/anon27398661)\ **Replies:** 0\ **Last updated:** [October 13, 2021, 2:19pm UTC](https://forum.universal-robots.com/t/initialize-list-of-x-size-in-urscript/17025 "2021-10-13T14:19:14Z")
Summary I would like to be able to initialize a list of X size in URScript. What is it? A method of creating a list of a predefined size with elements of undetermined value. For example, in C++, you would do something l… --- ## [Struct data type in URScript](https://forum.universal-robots.com/t/struct-data-type-in-urscript/17024)
**Author:** [@anon27398661](https://forum.universal-robots.com/u/anon27398661)\ **Replies:** 0\ **Last updated:** [October 13, 2021, 2:03pm UTC](https://forum.universal-robots.com/t/struct-data-type-in-urscript/17024 "2021-10-13T14:03:46Z")
Your feature may already be reported! Please search on the Feature category and sub categories, before creating one. Summary I would like the ability to create a custom data structure. What is it? Like a struct in C++… --- ## [URScript Command: get\_tool\_speed\_limit()](https://forum.universal-robots.com/t/urscript-command-get-tool-speed-limit/17016)
**Author:** [@cg1](https://forum.universal-robots.com/u/cg1)\ **Replies:** 0\ **Last updated:** [October 13, 2021, 9:01am UTC](https://forum.universal-robots.com/t/urscript-command-get-tool-speed-limit/17016 "2021-10-13T09:01:03Z")
Summary URScript Command: get\_tool\_speed\_limit() What is it? A URScript function that returns the tool speed limit set in the installation. if the robot is in “reduced mode” it should return the reduced value. Why is … --- ## [Additional function codes](https://forum.universal-robots.com/t/additional-function-codes/15898)
**Author:** [@anon1947322](https://forum.universal-robots.com/u/anon1947322)\ **Replies:** 3\ **Last updated:** [October 1, 2021, 3:28pm UTC](https://forum.universal-robots.com/t/additional-function-codes/15898 "2021-10-01T15:28:08Z")
We have been trying to communicate directly to gauge, And we came across a problem which is down to the universal robot only seeing 01-06 function codes The Gauge uses 03 and 16 function codes. Although we could some … --- ## [Copy and paste after selecting mutiple nodes](https://forum.universal-robots.com/t/copy-and-paste-after-selecting-mutiple-nodes/9067)
**Author:** [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Replies:** 4\ **Last updated:** [September 29, 2021, 2:04pm UTC](https://forum.universal-robots.com/t/copy-and-paste-after-selecting-mutiple-nodes/9067 "2021-09-29T14:04:00Z")
Summary The feature of copy and paste after selecting mutiple nodes. Why is it needed? It would be easier for programming work by selecting multiple nodes because only one node can be selected at a time. --- ## [Passive Waypoints](https://forum.universal-robots.com/t/passive-waypoints/447)
**Author:** [@anon43104340](https://forum.universal-robots.com/u/anon43104340)\ **Replies:** 14\ **Last updated:** [September 28, 2021, 12:06pm UTC](https://forum.universal-robots.com/t/passive-waypoints/447 "2021-09-28T12:06:20Z")
I believe PolyScope programs can only have waypoint elements as part of a move command. Sometimes it is necessary to have a reference pose that is not acted upon, but only as a precursor to a final pose thru an additiona… --- ## [Monitor for ethernet/IP and Profinet I/O](https://forum.universal-robots.com/t/monitor-for-ethernet-ip-and-profinet-i-o/6734)
**Author:** [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Replies:** 6\ **Last updated:** [September 22, 2021, 1:22pm UTC](https://forum.universal-robots.com/t/monitor-for-ethernet-ip-and-profinet-i-o/6734 "2021-09-22T13:22:59Z")
Values of digital IOs can be seen on polyscope. I request the feature that values of Ethernet/IP and Profinet can be seen on IO tab for debugging. Now I made urcap that get values(bits, integers, floats) of ethernet/ip… --- ## [Sticky popup message position](https://forum.universal-robots.com/t/sticky-popup-message-position/168)
**Author:** [@anon43982785](https://forum.universal-robots.com/u/anon43982785)\ **Replies:** 4\ **Last updated:** [September 19, 2021, 11:00pm UTC](https://forum.universal-robots.com/t/sticky-popup-message-position/168 "2021-09-19T23:00:38Z")
While debugging I encode some popup boxes to identify progress while viewing the graphics display. When the box appears it covers the robot image. I move the popup box out of the way of the display and click continue. Th… --- ## [Please add all available ProgramNodes from PolyScope to the ProgramNodeFactory](https://forum.universal-robots.com/t/please-add-all-available-programnodes-from-polyscope-to-the-programnodefactory/16353)
**Author:** [@jan.jungbluth](https://forum.universal-robots.com/u/jan.jungbluth)\ **Replies:** 0\ **Last updated:** [September 8, 2021, 1:42pm UTC](https://forum.universal-robots.com/t/please-add-all-available-programnodes-from-polyscope-to-the-programnodefactory/16353 "2021-09-08T13:42:26Z")
Summary Please add all available ProgramNodes from PolyScope to the ProgramNodeFactory and let us them configure proberly. What is it? The ProgramNodeFactory from the API contains a very limited subset of the available … --- ## [Increase Window of Program URSim](https://forum.universal-robots.com/t/increase-window-of-program-ursim/15582)
**Author:** [@c.lichtmannegger](https://forum.universal-robots.com/u/c.lichtmannegger)\ **Replies:** 1\ **Last updated:** [August 5, 2021, 2:14pm UTC](https://forum.universal-robots.com/t/increase-window-of-program-ursim/15582 "2021-08-05T14:14:45Z")
Your feature may already be reported! Please search on the Feature category and sub categories, before creating one. Summary Increase Window of Program in UR-Sim to see all the Code What is it? With a Window that is c… --- ## [Feature Request: Time Sync](https://forum.universal-robots.com/t/feature-request-time-sync/15811)
**Author:** [@sven.ziesche](https://forum.universal-robots.com/u/sven.ziesche)\ **Replies:** 0\ **Last updated:** [August 5, 2021, 2:09pm UTC](https://forum.universal-robots.com/t/feature-request-time-sync/15811 "2021-08-05T14:09:24Z")
Please implement the ability to Sync the system time via a Time Server in the local Network (not Internet!) In some cases we need the exect timestamp for Log Messages. So it would be helpful to sync the robot time with… --- ## [Easy: Auto Update "Active TCP" Box in Move Screen / Robot](https://forum.universal-robots.com/t/easy-auto-update-active-tcp-box-in-move-screen-robot/15676)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 0\ **Last updated:** [July 29, 2021, 7:40pm UTC](https://forum.universal-robots.com/t/easy-auto-update-active-tcp-box-in-move-screen-robot/15676 "2021-07-29T19:40:29Z")
Auto Update Active TCP Window in Move Screen / Robot whilst program is running. The Active TCP window should update when the Active TCP is changed while a program is running. Mostly used for Debugging. Currently, while… --- ## [Getter method to know the operational mode?](https://forum.universal-robots.com/t/getter-method-to-know-the-operational-mode/5089)
**Author:** [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\ **Replies:** 4\ **Last updated:** [July 29, 2021, 5:49am UTC](https://forum.universal-robots.com/t/getter-method-to-know-the-operational-mode/5089 "2021-07-29T05:49:15Z")
Hi, It would be very useful if we get a getter method in the communication interfaces (Modbus, RDTE) to know the operational mode of the UR cobots (Auto/Manual). Thanks, Sankar --- ## [Move in Freemode - Using BOTH hands](https://forum.universal-robots.com/t/move-in-freemode-using-both-hands/15422)
**Author:** [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Replies:** 6\ **Last updated:** [July 13, 2021, 6:14pm UTC](https://forum.universal-robots.com/t/move-in-freemode-using-both-hands/15422 "2021-07-13T18:14:00Z")
Once in a while I need to call someone to hold the Free Move button while I position the robot. We have another robot here whose name i won’t mention that allows you to use both hands in Free Mode (there are buttons on t… --- ## [A usability survey-How do you think these two interface designs?](https://forum.universal-robots.com/t/a-usability-survey-how-do-you-think-these-two-interface-designs/15425)
**Author:** [@anon25580811](https://forum.universal-robots.com/u/anon25580811)\ **Replies:** 0\ **Last updated:** [July 12, 2021, 9:03pm UTC](https://forum.universal-robots.com/t/a-usability-survey-how-do-you-think-these-two-interface-designs/15425 "2021-07-12T21:03:43Z")
Here we provide the two interface designs of the teaching pendant. And we need your help to rating your feelings in our survey, which aims at the usability of the interfaces. Please use this link to enter the survey, an… --- ## [Moveable windows on polyscope](https://forum.universal-robots.com/t/moveable-windows-on-polyscope/15282)
**Author:** [@anon1947322](https://forum.universal-robots.com/u/anon1947322)\ **Replies:** 0\ **Last updated:** [July 5, 2021, 8:41am UTC](https://forum.universal-robots.com/t/moveable-windows-on-polyscope/15282 "2021-07-05T08:41:10Z")
Hi Came and hit a problem after setting up a trial with our cobot, I was creating a plane and went to exit and accidently opened the hamburger menu. the window popped up halfway of the screen and could not close it, i w… --- ## [Keyboard Functions](https://forum.universal-robots.com/t/keyboard-functions/14927)
**Author:** [@anon32310726](https://forum.universal-robots.com/u/anon32310726)\ **Replies:** 7\ **Last updated:** [June 18, 2021, 4:38pm UTC](https://forum.universal-robots.com/t/keyboard-functions/14927 "2021-06-18T16:38:23Z")
Summary Connected keyboard can coppy,paste,delete etc. What is it? connect the normal shortcuts to polyscope nodes so you can coppy,paste,delete etc. program nodes with your keyboard. Why is it needed? it would be ve… --- ## [RTDE output register conflict](https://forum.universal-robots.com/t/rtde-output-register-conflict/5119)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 4\ **Last updated:** [June 18, 2021, 10:14am UTC](https://forum.universal-robots.com/t/rtde-output-register-conflict/5119 "2021-06-18T10:14:35Z")
@inu @jbm We get an issue with a client writing in RTDE output registers that are actually use by our software. This is because there is no way to reserve a controller output register so anyone can write to these regis… --- ## [Multiple settings of payload mass and gravity](https://forum.universal-robots.com/t/multiple-settings-of-payload-mass-and-gravity/14915)
**Author:** [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Replies:** 2\ **Last updated:** [June 16, 2021, 9:57am UTC](https://forum.universal-robots.com/t/multiple-settings-of-payload-mass-and-gravity/14915 "2021-06-16T09:57:51Z")
Summary The feature of multiple settings of payload and gravity on installation. Why is it needed? We can only set one payload mass and center of gravity on the installtion, but it would be helpful if I could have multi… --- ## [Configure MoveJ with Feature from api](https://forum.universal-robots.com/t/configure-movej-with-feature-from-api/4263)
**Author:** [@anon91082083](https://forum.universal-robots.com/u/anon91082083)\ **Replies:** 5\ **Last updated:** [June 7, 2021, 8:08am UTC](https://forum.universal-robots.com/t/configure-movej-with-feature-from-api/4263 "2021-06-07T08:08:52Z")
Is there a reason that a MoveJ cannot be configured with a feature using the MoveJConfigBuilder from the api? Both the MoveL and MoveP config builders allow for this using the setFeature() method. Polyscope also allows u… --- ## [Translate/rotate point relative to a feature plane](https://forum.universal-robots.com/t/translate-rotate-point-relative-to-a-feature-plane/14708)
**Author:** [@scott.bruins](https://forum.universal-robots.com/u/scott.bruins)\ **Replies:** 1\ **Last updated:** [June 3, 2021, 4:12pm UTC](https://forum.universal-robots.com/t/translate-rotate-point-relative-to-a-feature-plane/14708 "2021-06-03T16:12:42Z")
I’m running into an issue where I’m trying to move to a point relative to a feature plane. I’ve done this successfully before using pose\_trans but for some reason it isn’t giving me the correct position. Desired locatio… --- ## [Safety Planes that do not react to the Tool Flange](https://forum.universal-robots.com/t/safety-planes-that-do-not-react-to-the-tool-flange/14523)
**Author:** [@cg1](https://forum.universal-robots.com/u/cg1)\ **Replies:** 0\ **Last updated:** [May 25, 2021, 9:50am UTC](https://forum.universal-robots.com/t/safety-planes-that-do-not-react-to-the-tool-flange/14523 "2021-05-25T09:50:40Z")
Summary deactivation of the tool Flange , in safety planes. What is it? When creating safety planes, you sometimes want the safety planes to only react to a mounted tool. But as the tool flange is always considered a t… --- ## [Option to make Speed and Acceleration variable](https://forum.universal-robots.com/t/option-to-make-speed-and-acceleration-variable/13544)
**Author:** [@nik](https://forum.universal-robots.com/u/nik)\ **Replies:** 2\ **Last updated:** [May 13, 2021, 8:02am UTC](https://forum.universal-robots.com/t/option-to-make-speed-and-acceleration-variable/13544 "2021-05-13T08:02:59Z")
Summary Make it possible to use variable values for speed and acceleration instead of only having fixed values. What is it? All of the move commands only allow you to use fixed speed and acceleration values in the windo… [Previous page](https://forum.universal-robots.com/c/product-wishlist/11.md?page=3) [Next page](https://forum.universal-robots.com/c/product-wishlist/11.md?page=5)