# Technical Questions **URL:** https://forum.universal-robots.com/c/technical-questions/42.md?page=1 [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:** 2 --- ## [TeachPendant 3D STP for UR7e](https://forum.universal-robots.com/t/teachpendant-3d-stp-for-ur7e/43109)
**Author:** [@milan.salka](https://forum.universal-robots.com/u/milan.salka)\ **Replies:** 1\ **Last updated:** [July 23, 2026, 10:14am UTC](https://forum.universal-robots.com/t/teachpendant-3d-stp-for-ur7e/43109 "2026-07-23T10:14:47Z")
Hello, which 3D STP may I download for UR7e? Is part of robot package too holder for TeachPendant, or need to be ordered separate? Where to find and download 3D STP file for TeachPendant holder, please? --- ## [How to connect external devices to PolyScopeX URSim](https://forum.universal-robots.com/t/how-to-connect-external-devices-to-polyscopex-ursim/43101)
**Author:** [@nhuchleo](https://forum.universal-robots.com/u/nhuchleo)\ **Replies:** 1\ **Last updated:** [July 22, 2026, 6:13am UTC](https://forum.universal-robots.com/t/how-to-connect-external-devices-to-polyscopex-ursim/43101 "2026-07-22T06:13:22Z")
Hi everyone, I’m trying to understand whether external device/software communication is currently supported in PolyScopeX URSim, or if it may be added in the future. Specifically, is it possible for MATLAB running on a… --- ## [Get\_tcp\_force(): How are the values calculated?](https://forum.universal-robots.com/t/get-tcp-force-how-are-the-values-calculated/43075)
**Author:** [@mahler](https://forum.universal-robots.com/u/mahler)\ **Replies:** 5\ **Last updated:** [July 17, 2026, 1:19pm UTC](https://forum.universal-robots.com/t/get-tcp-force-how-are-the-values-calculated/43075 "2026-07-17T13:19:24Z")
Hi, is there a filter that works on the values of ‘get\_tcp\_force()’ i can adjust ? In an appliction i try to touch the surface of a soft material by a small (1 N) force after zero\_ftsensor(). Sometimes it still not wor… --- ## [PolyscopeX-10.13.0-0.9.454.urup not detecting Camera Feed from orbbec-gemini-v335Lg](https://forum.universal-robots.com/t/polyscopex-10-13-0-0-9-454-urup-not-detecting-camera-feed-from-orbbec-gemini-v335lg/43077)
**Author:** [@gmunusamy](https://forum.universal-robots.com/u/gmunusamy)\ **Replies:** 1\ **Last updated:** [July 16, 2026, 4:57pm UTC](https://forum.universal-robots.com/t/polyscopex-10-13-0-0-9-454-urup-not-detecting-camera-feed-from-orbbec-gemini-v335lg/43077 "2026-07-16T16:57:16Z")
Hi Team, We are setting up AI Accelerator With UR5e And observing that Camera is not getting detected on the PollyScopeX. We installed the following SWs on PollyScope X. PolyscopeX-10.13.0-0.9.454.urup aia-core-2.1.3… --- ## [Exception Caught in Thread J3D-MasterControl-1 Error](https://forum.universal-robots.com/t/exception-caught-in-thread-j3d-mastercontrol-1-error/43069)
**Author:** [@mmeyer](https://forum.universal-robots.com/u/mmeyer)\ **Replies:** 0\ **Last updated:** [July 15, 2026, 5:55pm UTC](https://forum.universal-robots.com/t/exception-caught-in-thread-j3d-mastercontrol-1-error/43069 "2026-07-15T17:55:07Z")
Ive never seen this error before and it has popped up 3 times, only to completely shut down polyscope after, forcing me to shut down and repower up the device to fix it. It has only happened in the move tab, and I can’t … --- ## [Installing Polyscope 5 on Model CB5 (V5.6)](https://forum.universal-robots.com/t/installing-polyscope-5-on-model-cb5-v5-6/41801)
**Author:** [@kaafi.shikder](https://forum.universal-robots.com/u/kaafi.shikder)\ **Replies:** 20\ **Last updated:** [July 14, 2026, 8:39am UTC](https://forum.universal-robots.com/t/installing-polyscope-5-on-model-cb5-v5-6/41801 "2026-07-14T08:39:26Z")
Hi, I was just wondering if I could install Polyscope 5 to a Polyscope X robot which has a compute box version 5.6 on it. I saw some people over in the forums saying that it could be done, but was looking for further c… --- ## [External Control node stays yellow in PolyScope X (ROS2 connected, RViz working)](https://forum.universal-robots.com/t/external-control-node-stays-yellow-in-polyscope-x-ros2-connected-rviz-working/42601)
**Author:** [@zhengyutao](https://forum.universal-robots.com/u/zhengyutao)\ **Replies:** 3\ **Last updated:** [July 14, 2026, 8:22am UTC](https://forum.universal-robots.com/t/external-control-node-stays-yellow-in-polyscope-x-ros2-connected-rviz-working/42601 "2026-07-14T08:22:38Z")
Hi everyone, I’m trying to use External Control with a UR7e on PolyScope X, but I’m stuck with the node always staying yellow and cannot press “Play”. Here is my setup: Robot: UR7e PolyScope X External Control… --- ## [RPS or minimum sampling rate per UR interface](https://forum.universal-robots.com/t/rps-or-minimum-sampling-rate-per-ur-interface/43058)
**Author:** [@mitdl1007](https://forum.universal-robots.com/u/mitdl1007)\ **Replies:** 1\ **Last updated:** [July 13, 2026, 9:21am UTC](https://forum.universal-robots.com/t/rps-or-minimum-sampling-rate-per-ur-interface/43058 "2026-07-13T09:21:55Z")
Hi everyone, In my current project, I’m fetching state values from various UR interfaces to determine whether an alarm has occurred. I am using three communication interfaces: Modbus, Dashboard Server, and RTDE. To ensu… --- ## [Polyscope X 10.12 - Ethernet/IP](https://forum.universal-robots.com/t/polyscope-x-10-12-ethernet-ip/43055)
**Author:** [@v51](https://forum.universal-robots.com/u/v51)\ **Replies:** 1\ **Last updated:** [July 13, 2026, 9:16am UTC](https://forum.universal-robots.com/t/polyscope-x-10-12-ethernet-ip/43055 "2026-07-13T09:16:12Z")
Does anyone tried to communicate using Ethernet/IP on Polyscope x 10.12 to PLC? I don’t know why the polyscope X 10.12 intermittently gets connected then no scanner (on a loop) with keyence KV-7500 and KV-XLE02. I use th… --- ## [Power up issues](https://forum.universal-robots.com/t/power-up-issues/43044)
**Author:** [@Johnan](https://forum.universal-robots.com/u/Johnan)\ **Replies:** 1\ **Last updated:** [July 10, 2026, 9:47am UTC](https://forum.universal-robots.com/t/power-up-issues/43044 "2026-07-10T09:47:38Z")
Hi please help me what problem --- ## [Control of a Robotiq Hand-E gripper via modbus](https://forum.universal-robots.com/t/control-of-a-robotiq-hand-e-gripper-via-modbus/43042)
**Author:** [@muefide.gueleken](https://forum.universal-robots.com/u/muefide.gueleken)\ **Replies:** 2\ **Last updated:** [July 10, 2026, 6:49am UTC](https://forum.universal-robots.com/t/control-of-a-robotiq-hand-e-gripper-via-modbus/43042 "2026-07-10T06:49:22Z")
Hello UR community, I’m trying to migrate a setup from PolyScope 5.25 to PolyScope X and cannot get Modbus communication to a Robotiq Hand-E gripper working. Setup UR16e with Robotiq Hand-E connected to the robot wris… --- ## [UR10 CB3 Teach Pendant turns on but won’t Start,The controller does not supply 24V](https://forum.universal-robots.com/t/ur10-cb3-teach-pendant-turns-on-but-won-t-start-the-controller-does-not-supply-24v/43038)
**Author:** [@rene.cantu](https://forum.universal-robots.com/u/rene.cantu)\ **Replies:** 3\ **Last updated:** [July 9, 2026, 2:47pm UTC](https://forum.universal-robots.com/t/ur10-cb3-teach-pendant-turns-on-but-won-t-start-the-controller-does-not-supply-24v/43038 "2026-07-09T14:47:17Z")
My teach pendant powers on but doesn’t start; it stays on a black screen as shown in the image. The 24V and 48V LEDs on my controller aren’t lighting up. I’ve checked and I’m getting 12V at the controller, but I’m not ge… --- ## [Joint torque control - no motion with small torques](https://forum.universal-robots.com/t/joint-torque-control-no-motion-with-small-torques/42062)
**Author:** [@adam.heins](https://forum.universal-robots.com/u/adam.heins)\ **Replies:** 16\ **Last updated:** [July 8, 2026, 11:19pm UTC](https://forum.universal-robots.com/t/joint-torque-control-no-motion-with-small-torques/42062 "2026-07-08T23:19:52Z")
I am developing a teleoperation system for my UR5e, where the user manually guides a smaller “leader” arm while a controller is designed to make the UR5e follow the same motions. I have started using the new joint torque… --- ## [\[UR5e\] direct\_torque — correct control equation, gains, and max torque for VLA / RL inference (not trajectory following)](https://forum.universal-robots.com/t/ur5e-direct-torque-correct-control-equation-gains-and-max-torque-for-vla-rl-inference-not-trajectory-following/42947)
**Author:** [@shahrukh.saifi](https://forum.universal-robots.com/u/shahrukh.saifi)\ **Replies:** 3\ **Last updated:** [July 8, 2026, 11:07pm UTC](https://forum.universal-robots.com/t/ur5e-direct-torque-correct-control-equation-gains-and-max-torque-for-vla-rl-inference-not-trajectory-following/42947 "2026-07-08T23:07:45Z")
Setup: UR5e | PolyScope 5.25.2 | ur\_rtde 1.6.3 | RTX 5070 Ti | Robotiq Hand-E gripper 0.990 kg References read: UR official direct\_torque circular trajectory example, NVIDIA IndustReal (USB/gear insertion), ur\_rtde API… --- ## [Polyscope X 10.12.1: Difference in program exported on USB to Robot API](https://forum.universal-robots.com/t/polyscope-x-10-12-1-difference-in-program-exported-on-usb-to-robot-api/42691)
**Author:** [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Replies:** 6\ **Last updated:** [July 8, 2026, 9:01am UTC](https://forum.universal-robots.com/t/polyscope-x-10-12-1-difference-in-program-exported-on-usb-to-robot-api/42691 "2026-07-08T09:01:17Z")
I just noticed, when I export my urpx programs, they are ways bigger than when exported on a USB disk. I cannot share the files but assure they are the same program captured at the same time (the 2h difference just co… --- ## [Issue during boot process - don't get image after reinstall image](https://forum.universal-robots.com/t/issue-during-boot-process-dont-get-image-after-reinstall-image/42974)
**Author:** [@luis.ramirez](https://forum.universal-robots.com/u/luis.ramirez)\ **Replies:** 2\ **Last updated:** [July 6, 2026, 5:31pm UTC](https://forum.universal-robots.com/t/issue-during-boot-process-dont-get-image-after-reinstall-image/42974 "2026-07-06T17:31:11Z")
After a general power outage at the factory, when I tried to turn on the robot, the screen remained black after powering it on, as shown in the photo. Since this was a sign that it wasn’t booting, I flashed the image, bu… --- ## [Urupdate failing due to "downgrade version"](https://forum.universal-robots.com/t/urupdate-failing-due-to-downgrade-version/43025)
**Author:** [@emma.zemler](https://forum.universal-robots.com/u/emma.zemler)\ **Replies:** 2\ **Last updated:** [July 6, 2026, 2:23pm UTC](https://forum.universal-robots.com/t/urupdate-failing-due-to-downgrade-version/43025 "2026-07-06T14:23:01Z")
Trying to upgrade our UR10 incrementally from 5.12.5 to the latest. 5.12.7 installed successfully, however trying to install 5.12.8 - it does not get recognized via the UR pendent as a valid update. SSH into the robot -… --- ## [UR10 Joint conflicts](https://forum.universal-robots.com/t/ur10-joint-conflicts/34866)
**Author:** [@amaqso1](https://forum.universal-robots.com/u/amaqso1)\ **Replies:** 1\ **Last updated:** [July 3, 2026, 2:30pm UTC](https://forum.universal-robots.com/t/ur10-joint-conflicts/34866 "2026-07-03T14:30:53Z")
I am using a UR10 arm for a printing simulation and have attached an extruder to the tool. I apply a G-code via a USB drive for the URCap toolpath. Due to some cables and connections of the extruder, I need to limit join… --- ## [Acknowledge Collisions Without Teach Pendant](https://forum.universal-robots.com/t/acknowledge-collisions-without-teach-pendant/43023)
**Author:** [@mm38581](https://forum.universal-robots.com/u/mm38581)\ **Replies:** 4\ **Last updated:** [July 2, 2026, 1:14pm UTC](https://forum.universal-robots.com/t/acknowledge-collisions-without-teach-pendant/43023 "2026-07-02T13:14:43Z")
Is there a way to acknowledge robot collisions without using the teach pendant? If I wired in a safeguard reset button, would that clear the popup and allow the robot to continue moving? --- ## [Get\_target\_tcp\_speed\_along\_path() bug](https://forum.universal-robots.com/t/get-target-tcp-speed-along-path-bug/43028)
**Author:** [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Replies:** 0\ **Last updated:** [July 2, 2026, 9:59am UTC](https://forum.universal-robots.com/t/get-target-tcp-speed-along-path-bug/43028 "2026-07-02T09:59:07Z")
Steps to reproduce: Define thread to monitor get\_target\_tcp\_speed\_along\_path() function. Teach path in rotary-axis-attached world model frame such that the path does not have a fixed radius from the axis of rotation. te… --- ## [UR VNC Connection - Data Security Question](https://forum.universal-robots.com/t/ur-vnc-connection-data-security-question/43013)
**Author:** [@automation](https://forum.universal-robots.com/u/automation)\ **Replies:** 0\ **Last updated:** [June 29, 2026, 3:26pm UTC](https://forum.universal-robots.com/t/ur-vnc-connection-data-security-question/43013 "2026-06-29T15:26:38Z")
Hi, Our customer’s IT Team has asked the following question regarding setting up remote connection via the VNC server. We are connecting via ethernet locally for programming off of the teach pendant. 1. Please ask U… --- ## [Profinet communication between UR20 and Beckhoff IPC](https://forum.universal-robots.com/t/profinet-communication-between-ur20-and-beckhoff-ipc/42972)
**Author:** [@nicoh01](https://forum.universal-robots.com/u/nicoh01)\ **Replies:** 1\ **Last updated:** [June 29, 2026, 11:29am UTC](https://forum.universal-robots.com/t/profinet-communication-between-ur20-and-beckhoff-ipc/42972 "2026-06-29T11:29:00Z")
Hello everyone, the PROFINET connection between my UR20 and the Beckhoff TwinCAT PLC is established, but I still cannot get the cyclic data exchange to work. So the link comes up, but no values are transferred, or not t… --- ## [UR - Siemens Logo example and Documentation](https://forum.universal-robots.com/t/ur-siemens-logo-example-and-documentation/30346)
**Author:** [@dasa](https://forum.universal-robots.com/u/dasa)\ **Replies:** 1\ **Last updated:** [June 29, 2026, 11:10am UTC](https://forum.universal-robots.com/t/ur-siemens-logo-example-and-documentation/30346 "2026-06-29T11:10:09Z")
Hello all, there is many of you asking yourself how to get Siemens Logo with UR connected. I have created for all of you a simple documentation: how to use Siemens Logo soft comfort connect with UR how to use Logo as… --- ## [UR10 - Startup Issues](https://forum.universal-robots.com/t/ur10-startup-issues/43009)
**Author:** [@nick.skillandat](https://forum.universal-robots.com/u/nick.skillandat)\ **Replies:** 1\ **Last updated:** [June 29, 2026, 9:10am UTC](https://forum.universal-robots.com/t/ur10-startup-issues/43009 "2026-06-29T09:10:06Z")
Today I tried to get an UR10 up and running. The problem is that when I press the power button, the display lights up with the logo but goes dark again after about 10 seconds. The same thing happens with the power button… --- ## [Question about gravity compensation for UR7e](https://forum.universal-robots.com/t/question-about-gravity-compensation-for-ur7e/42994)
**Author:** [@jmlee](https://forum.universal-robots.com/u/jmlee)\ **Replies:** 0\ **Last updated:** [June 25, 2026, 7:57am UTC](https://forum.universal-robots.com/t/question-about-gravity-compensation-for-ur7e/42994 "2026-06-25T07:57:10Z")
I am trying to control a UR7e using RTDE, and I would like to ask whether gravity compensation can be automatically adjusted when the robot base is shaking or moving. --- ## [UR7 + DC OEM + Soft Start](https://forum.universal-robots.com/t/ur7-dc-oem-soft-start/42987)
**Author:** [@david.martin](https://forum.universal-robots.com/u/david.martin)\ **Replies:** 0\ **Last updated:** [June 24, 2026, 9:10am UTC](https://forum.universal-robots.com/t/ur7-dc-oem-soft-start/42987 "2026-06-24T09:10:16Z")
Good morning, I’m looking for some light in my setup (ur7e + dc oem). For a first test, I’ve just connected the oem to a power supply providing 30V and limited to 10A and there, during the initialization of the arm, I’… --- ## [UR20 Lightbase mistake](https://forum.universal-robots.com/t/ur20-lightbase-mistake/42978)
**Author:** [@lrios](https://forum.universal-robots.com/u/lrios)\ **Replies:** 0\ **Last updated:** [June 23, 2026, 9:12pm UTC](https://forum.universal-robots.com/t/ur20-lightbase-mistake/42978 "2026-06-23T21:12:02Z")
Hello, I have a new UR20, but I’ve noticed that the base light isn’t turning on. I’ve already tried using the script commands to change it to a solid color, turn it off, and return it to normal operation, but they didn’t… --- ## [Move to a point defined by variables](https://forum.universal-robots.com/t/move-to-a-point-defined-by-variables/42951)
**Author:** [@antonio.p](https://forum.universal-robots.com/u/antonio.p)\ **Replies:** 6\ **Last updated:** [June 23, 2026, 8:59pm UTC](https://forum.universal-robots.com/t/move-to-a-point-defined-by-variables/42951 "2026-06-23T20:59:39Z")
Hello everyone, I’m totally new with Universal Robots and I would appreciate some help with a project I’m working on. Can i move to a waypoint defined by a variable? I have to set a series of points over a surface in … --- ## [Creating a parts library](https://forum.universal-robots.com/t/creating-a-parts-library/42929)
**Author:** [@brian.shutes](https://forum.universal-robots.com/u/brian.shutes)\ **Replies:** 3\ **Last updated:** [June 23, 2026, 9:59am UTC](https://forum.universal-robots.com/t/creating-a-parts-library/42929 "2026-06-23T09:59:39Z")
Morning all. I have a UR10 with a WireTank dispenser for an effector. We stake a lot of PC boards around here. I’m beginning to get my head around variable waypoints and scripted moves, just enough to be dangerous and ov… --- ## [How to hide global variables in URScript (URCap development)](https://forum.universal-robots.com/t/how-to-hide-global-variables-in-urscript-urcap-development/41403)
**Author:** [@efkere](https://forum.universal-robots.com/u/efkere)\ **Replies:** 8\ **Last updated:** [June 18, 2026, 1:42pm UTC](https://forum.universal-robots.com/t/how-to-hide-global-variables-in-urscript-urcap-development/41403 "2026-06-18T13:42:07Z")
Hi everyone, I’m currently developing a URCap program that uses several global variables to keep track of the current command and state. Everything works fine functionally but all these global variables are visible in … [Previous page](https://forum.universal-robots.com/c/technical-questions/42.md) [Next page](https://forum.universal-robots.com/c/technical-questions/42.md?page=2)