# URCap Development **URL:** https://forum.universal-robots.com/c/urcap-development/5.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 --- ## [Polyscope X Error installing urcapx on physical robot and simulator](https://forum.universal-robots.com/t/polyscope-x-error-installing-urcapx-on-physical-robot-and-simulator/41759)
**Author:** [@hpous](https://forum.universal-robots.com/u/hpous)\ **Replies:** 1\ **Last updated:** [November 20, 2025, 11:58am UTC](https://forum.universal-robots.com/t/polyscope-x-error-installing-urcapx-on-physical-robot-and-simulator/41759 "2025-11-20T11:58:34Z")
Hello everyone, I am developing an URCAP for the new Polyscope X. For some time now, I have been implementing the backend in Python and the frontend in Angular. I was able to simulate it correctly during development, bu… --- ## [URCap Sample: sync() node](https://forum.universal-robots.com/t/urcap-sample-sync-node/41719)
**Author:** [@swra](https://forum.universal-robots.com/u/swra)\ **Replies:** 0\ **Last updated:** [November 12, 2025, 8:48pm UTC](https://forum.universal-robots.com/t/urcap-sample-sync-node/41719 "2025-11-12T20:48:10Z")
Hi All, I’ve created a small URCap that adds the sync() command as a program node. It’ll save you a few clicks when you’re working with threads, loops, events, etc. It’s nothing terribly complex, but if anyone has requ… --- ## [Verify robot state](https://forum.universal-robots.com/t/verify-robot-state/41620)
**Author:** [@vytor645](https://forum.universal-robots.com/u/vytor645)\ **Replies:** 1\ **Last updated:** [October 29, 2025, 1:11pm UTC](https://forum.universal-robots.com/t/verify-robot-state/41620 "2025-10-29T13:11:29Z")
Hello guys, morning. i´m working in urcap, i would like of verify robot state, ex: if(robotstate == on){….} can I do this of anything form? --- ## [Create a TCP-Connection with a custom Port with a URCap](https://forum.universal-robots.com/t/create-a-tcp-connection-with-a-custom-port-with-a-urcap/41565)
**Author:** [@ingo.rueckert](https://forum.universal-robots.com/u/ingo.rueckert)\ **Replies:** 1\ **Last updated:** [October 24, 2025, 2:34pm UTC](https://forum.universal-robots.com/t/create-a-tcp-connection-with-a-custom-port-with-a-urcap/41565 "2025-10-24T14:34:22Z")
Hello All, We are currently developing an URCap that should communicate with a PLC via a TCP/IP connection. The goal is to display PLC-messages and error messages directly in the robot’s Installation tab in a dedicated… --- ## [Save position on ramification of my urcap](https://forum.universal-robots.com/t/save-position-on-ramification-of-my-urcap/41328)
**Author:** [@cassio.pereira](https://forum.universal-robots.com/u/cassio.pereira)\ **Replies:** 2\ **Last updated:** [October 21, 2025, 1:09pm UTC](https://forum.universal-robots.com/t/save-position-on-ramification-of-my-urcap/41328 "2025-10-21T13:09:00Z")
Hi guys, how are you? I need help or suggestions for my development. I’m developing something that, with a selected input, saves the actual reference point upon receiving the signal. Can anyone tell me the best way to d… --- ## [NTP time synch is allowed?](https://forum.universal-robots.com/t/ntp-time-synch-is-allowed/1464)
**Author:** [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\ **Replies:** 2\ **Last updated:** [October 21, 2025, 12:50am UTC](https://forum.universal-robots.com/t/ntp-time-synch-is-allowed/1464 "2025-10-21T00:50:19Z")
Hi, I want to sync the controller time with an NTP server time. Is it allowed to do? Thanks, Sankar --- ## [How create Subnode URCAP](https://forum.universal-robots.com/t/how-create-subnode-urcap/41441)
**Author:** [@vytor645](https://forum.universal-robots.com/u/vytor645)\ **Replies:** 1\ **Last updated:** [October 9, 2025, 8:06pm UTC](https://forum.universal-robots.com/t/how-create-subnode-urcap/41441 "2025-10-09T20:06:07Z")
Hello guys, I have onde question about childNode/subNode in URCAP, my code in actual moment: public void addAproximacaoSubNode() { float\[\] poseArray = installationContribution.getCapturedPoseArray(); undoRedoMan… --- ## [Change Polyscope Language in Docker Container](https://forum.universal-robots.com/t/change-polyscope-language-in-docker-container/41435)
**Author:** [@dion.hornig](https://forum.universal-robots.com/u/dion.hornig)\ **Replies:** 0\ **Last updated:** [October 9, 2025, 12:22pm UTC](https://forum.universal-robots.com/t/change-polyscope-language-in-docker-container/41435 "2025-10-09T12:22:49Z")
Hello UR-Team, I have a question regarding the Docker Image you provide for the eseries robots (Polyscope 5). I would like to change the language of Polyscope, ideally by mounting the right drectory such that the file, … --- ## [What's the best way to set up automated unit tests of my URCap?](https://forum.universal-robots.com/t/whats-the-best-way-to-set-up-automated-unit-tests-of-my-urcap/41409)
**Author:** [@bryan.olmstead](https://forum.universal-robots.com/u/bryan.olmstead)\ **Replies:** 0\ **Last updated:** [October 6, 2025, 3:59pm UTC](https://forum.universal-robots.com/t/whats-the-best-way-to-set-up-automated-unit-tests-of-my-urcap/41409 "2025-10-06T15:59:49Z")
Hello community, Found a few posts a while back about this topic, but I haven’t quite solved my issue yet and figured I’d ask again in 2025. We’re developing a URCap with a complex UI that communicates with our proprie… --- ## [How I Create Child Node with position](https://forum.universal-robots.com/t/how-i-create-child-node-with-position/41371)
**Author:** [@vytor645](https://forum.universal-robots.com/u/vytor645)\ **Replies:** 1\ **Last updated:** [October 2, 2025, 6:11pm UTC](https://forum.universal-robots.com/t/how-i-create-child-node-with-position/41371 "2025-10-02T18:11:38Z")
Hi guys, Good Morning for all. I’m having trouble with my URCAP; I can’t create a subnode in the program tree in a way that assigns a fixed or specific position to that subnode. Can anyone help me with this? --- ## [How do I capture the robot's current position](https://forum.universal-robots.com/t/how-do-i-capture-the-robots-current-position/41212)
**Author:** [@vytor645](https://forum.universal-robots.com/u/vytor645)\ **Replies:** 1\ **Last updated:** [September 19, 2025, 8:56pm UTC](https://forum.universal-robots.com/t/how-do-i-capture-the-robots-current-position/41212 "2025-09-19T20:56:50Z")
I am developing an application and I am having a problem where I can’t capture the robot’s current position when clicking a button on the screen. After that, I will assign this position to a subnode, Everything in a sing… --- ## [Defining a large array in Installation Variables](https://forum.universal-robots.com/t/defining-a-large-array-in-installation-variables/40958)
**Author:** [@jgk](https://forum.universal-robots.com/u/jgk)\ **Replies:** 2\ **Last updated:** [September 2, 2025, 2:08pm UTC](https://forum.universal-robots.com/t/defining-a-large-array-in-installation-variables/40958 "2025-09-02T14:08:36Z")
I need to record and save dozens of poses during a dry run of a program (to discretize a very irregular motion). 300 poses at least. Then, I need the robot to remember them through power cycles. In order to do that I de… --- ## [URCAP Limitations access feasibility](https://forum.universal-robots.com/t/urcap-limitations-access-feasibility/40937)
**Author:** [@manigandan.g](https://forum.universal-robots.com/u/manigandan.g)\ **Replies:** 6\ **Last updated:** [September 2, 2025, 1:52pm UTC](https://forum.universal-robots.com/t/urcap-limitations-access-feasibility/40937 "2025-09-02T13:52:08Z")
We are currently developing a URCap and have encountered some limitations regarding live input status updates on the Java (UI) side of the URCap. As per our understanding: URCap has two parts: Java side → used for … --- ## [How to Customize Buttons in URScript Error Popup?](https://forum.universal-robots.com/t/how-to-customize-buttons-in-urscript-error-popup/41007)
**Author:** [@efkere](https://forum.universal-robots.com/u/efkere)\ **Replies:** 0\ **Last updated:** [August 29, 2025, 3:39pm UTC](https://forum.universal-robots.com/t/how-to-customize-buttons-in-urscript-error-popup/41007 "2025-08-29T15:39:00Z")
Hello everyone, I am developing a URCap for Polyscope 5 and want to customize the error popup behavior in URScript. By default, the error popup shows only “Stop Program” and “Continue” buttons. Is there a way to modify… --- ## [ScriptBuilder bad indentation on elif and else](https://forum.universal-robots.com/t/scriptbuilder-bad-indentation-on-elif-and-else/40811)
**Author:** [@mnj](https://forum.universal-robots.com/u/mnj)\ **Replies:** 4\ **Last updated:** [August 15, 2025, 12:25pm UTC](https://forum.universal-robots.com/t/scriptbuilder-bad-indentation-on-elif-and-else/40811 "2025-08-15T12:25:59Z")
Hi all, Look at what indentation this code snippet from typescript gives. Typescript: // only for testing builder.ifCondition("myVar") builder.localVariable("resultVar", "1") builder.elseIfCondition("yourVar") … --- ## [SDK Docker ursim Error directory](https://forum.universal-robots.com/t/sdk-docker-ursim-error-directory/40812)
**Author:** [@timo.schillinger](https://forum.universal-robots.com/u/timo.schillinger)\ **Replies:** 0\ **Last updated:** [August 12, 2025, 1:20pm UTC](https://forum.universal-robots.com/t/sdk-docker-ursim-error-directory/40812 "2025-08-12T13:20:25Z")
Hi, I can’t save or load any programs in the SDK ursim. I have downloaded the latest SDK from GitHub. Doese anyone have an idea to solve this problem? --- ## [Open move tab with Feature 'Tool' (instead of 'View')](https://forum.universal-robots.com/t/open-move-tab-with-feature-tool-instead-of-view/40759)
**Author:** [@felix.hartenbach](https://forum.universal-robots.com/u/felix.hartenbach)\ **Replies:** 0\ **Last updated:** [August 6, 2025, 12:12pm UTC](https://forum.universal-robots.com/t/open-move-tab-with-feature-tool-instead-of-view/40759 "2025-08-06T12:12:14Z")
Is it possible to open the move tab/page from an UrCap and select the ‘Tool’ Feature by default? Currently it defaults to the Feature ‘View’. VS Motivation: Our user shall configure a new TCP, the new TCP requi… --- ## [Is It Safe to Update UR Software? how?](https://forum.universal-robots.com/t/is-it-safe-to-update-ur-software-how/40698)
**Author:** [@farzaneh.gerami](https://forum.universal-robots.com/u/farzaneh.gerami)\ **Replies:** 3\ **Last updated:** [August 4, 2025, 5:20am UTC](https://forum.universal-robots.com/t/is-it-safe-to-update-ur-software-how/40698 "2025-08-04T05:20:52Z")
Hi, I have a question. How can I update the Universal Robots Polyscope software from version 5.11 to 5.15 or later? I’m near the end of my project and considering the update because I need to use matrices or lists in U… --- ## [Tkinter of python](https://forum.universal-robots.com/t/tkinter-of-python/6458)
**Author:** [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Replies:** 5\ **Last updated:** [August 1, 2025, 10:33pm UTC](https://forum.universal-robots.com/t/tkinter-of-python/6458 "2025-08-01T22:33:35Z")
I want to build GUI by using daemon. Can I use tkinter of python on daemon service? --- ## [Unable to get MiR API working on URCap](https://forum.universal-robots.com/t/unable-to-get-mir-api-working-on-urcap/40690)
**Author:** [@vlw](https://forum.universal-robots.com/u/vlw)\ **Replies:** 2\ **Last updated:** [August 1, 2025, 4:20am UTC](https://forum.universal-robots.com/t/unable-to-get-mir-api-working-on-urcap/40690 "2025-08-01T04:20:59Z")
I am currently trying to understand and troubleshoot a URCap done by a previous colleague. I’ve managed to find the area it is stuck at but am unable to figure out why. Basically, the URCap works perfectly fine on MiR so… --- ## [Out of memory Error](https://forum.universal-robots.com/t/out-of-memory-error/10159)
**Author:** [@martin.huetter](https://forum.universal-robots.com/u/martin.huetter)\ **Replies:** 3\ **Last updated:** [July 29, 2025, 10:34pm UTC](https://forum.universal-robots.com/t/out-of-memory-error/10159 "2025-07-29T22:34:57Z")
Hello I have two mainly used programs with different installations (only differences are the names of the digital outs and soma variables) on my UR16e. And sometimes when I switch from one program to the other the a… --- ## [Communication from ChildNode to ParentNode in Java](https://forum.universal-robots.com/t/communication-from-childnode-to-parentnode-in-java/29748)
**Author:** [@aolive](https://forum.universal-robots.com/u/aolive)\ **Replies:** 7\ **Last updated:** [July 28, 2025, 7:17am UTC](https://forum.universal-robots.com/t/communication-from-childnode-to-parentnode-in-java/29748 "2025-07-28T07:17:53Z")
Hello UR community, I am having difficulties making child nodes communicate with their parent node, cause I’d like the children to somehow communicate with each other (through the parent if necessary). Let me explain w… --- ## [Equipamento liga a tela por 5 segundos apenas](https://forum.universal-robots.com/t/equipamento-liga-a-tela-por-5-segundos-apenas/40565)
**Author:** [@andre2896a](https://forum.universal-robots.com/u/andre2896a)\ **Replies:** 0\ **Last updated:** [July 16, 2025, 12:04am UTC](https://forum.universal-robots.com/t/equipamento-liga-a-tela-por-5-segundos-apenas/40565 "2025-07-16T00:04:38Z")
O robô após energizado em 220vac e colocado fonte 24vdc externa conforme manual, a IHM liga por apenas 5 segundos e desliga após isso. Foi feito várias tentativas e não funcionou --- ## [Edit existing feature](https://forum.universal-robots.com/t/edit-existing-feature/11451)
**Author:** [@robin.kusterer](https://forum.universal-robots.com/u/robin.kusterer)\ **Replies:** 9\ **Last updated:** [July 2, 2025, 1:41pm UTC](https://forum.universal-robots.com/t/edit-existing-feature/11451 "2025-07-02T13:41:49Z")
Hello, I am trying to build a URCap which changes a feature created in Polyscope by a User, inside an installation node. For this i get the Feature list from: apiProvider.getInstallationAPI().getFeatureModel().getGeomF… --- ## [Valid certification path](https://forum.universal-robots.com/t/valid-certification-path/40293)
**Author:** [@martin.finn](https://forum.universal-robots.com/u/martin.finn)\ **Replies:** 0\ **Last updated:** [June 24, 2025, 11:49am UTC](https://forum.universal-robots.com/t/valid-certification-path/40293 "2025-06-24T11:49:35Z")
I am using the starter package available from the Universal Robots website to build the URCap LightUp in the tutorial. However, when I attempt to compile project, the compiler attempts to access various online libraries … --- ## [How do you setup persistent logging?](https://forum.universal-robots.com/t/how-do-you-setup-persistent-logging/39731)
**Author:** [@PeterMinebea](https://forum.universal-robots.com/u/PeterMinebea)\ **Replies:** 2\ **Last updated:** [May 29, 2025, 6:20pm UTC](https://forum.universal-robots.com/t/how-do-you-setup-persistent-logging/39731 "2025-05-29T18:20:07Z")
My URCap uses the standard library logging API (java.util.logging) to log debug messages and other such things. I can see log messages by opening the PolyScope terminal with Ctrl + Alt + F9. However, some of my log messa… --- ## [Add "Before Start" when generating script](https://forum.universal-robots.com/t/add-before-start-when-generating-script/39929)
**Author:** [@RRI](https://forum.universal-robots.com/u/RRI)\ **Replies:** 7\ **Last updated:** [May 22, 2025, 2:32pm UTC](https://forum.universal-robots.com/t/add-before-start-when-generating-script/39929 "2025-05-22T14:32:59Z")
Good morning to all, I’m trying to figure out how to add a “Before Start” section and fill it, in the same way we generate script using all the ProgramNodeContribution’s classes. Thank you in advance. Matteo Recognit… --- ## [Urcap dongle license and protection](https://forum.universal-robots.com/t/urcap-dongle-license-and-protection/6638)
**Author:** [@pica](https://forum.universal-robots.com/u/pica)\ **Replies:** 17\ **Last updated:** [October 2, 2020, 11:36pm UTC](https://forum.universal-robots.com/t/urcap-dongle-license-and-protection/6638 "2020-10-02T23:36:36Z")
Hi all, I am trying to collect info about how to protect an Urcap. I am following a customer who developed an Urcap and now wants to protect his work in the following ways: Release an URcap that cannot be read ( I rea… --- ## [How do I listen for an action in the program?](https://forum.universal-robots.com/t/how-do-i-listen-for-an-action-in-the-program/39538)
**Author:** [@PeterMinebea](https://forum.universal-robots.com/u/PeterMinebea)\ **Replies:** 3\ **Last updated:** [April 23, 2025, 3:37pm UTC](https://forum.universal-robots.com/t/how-do-i-listen-for-an-action-in-the-program/39538 "2025-04-23T15:37:18Z")
In the I/O Setup installation node, you can configure the robot to send a HI/LO signal on certain actions, such as when the program is not running: I would like to make a URCap that runs certain logic when the progra… --- ## [Reduce Lag for Thread that checks Digital Input](https://forum.universal-robots.com/t/reduce-lag-for-thread-that-checks-digital-input/31917)
**Author:** [@maximilian.tanjr](https://forum.universal-robots.com/u/maximilian.tanjr)\ **Replies:** 4\ **Last updated:** [April 17, 2025, 8:49pm UTC](https://forum.universal-robots.com/t/reduce-lag-for-thread-that-checks-digital-input/31917 "2025-04-17T20:49:34Z")
Hi! Would like to seek some ideas from the community on how to improve some features I have in the URCap I’m developing. I have a thread in a program node that constantly checks for a value of a certain digital input a… [Previous page](https://forum.universal-robots.com/c/urcap-development/5.md) [Next page](https://forum.universal-robots.com/c/urcap-development/5.md?page=2)