# Latest **URL:** https://forum.universal-robots.com/latest.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) --- ## [Vention Rail System Control Using Grasshopper](https://forum.universal-robots.com/t/vention-rail-system-control-using-grasshopper/43366)
**Author:** [@ebarn41](https://forum.universal-robots.com/u/ebarn41)\ **Replies:** 0\ **Last updated:** [September 23, 2026, 7:14pm UTC](https://forum.universal-robots.com/t/vention-rail-system-control-using-grasshopper/43366 "2026-09-23T19:14:20Z")
Hello all. I am currently trying to communicate with a vention 7th axis rail system connected to a UR20 using Grasshopper. I was wondering if there was a way to do this and how it could be done? I am currently using the … --- ## [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… --- ## [RG2 Gripper URScript sent on secondary interface and RTDE servoJ commands sent simulatneously](https://forum.universal-robots.com/t/rg2-gripper-urscript-sent-on-secondary-interface-and-rtde-servoj-commands-sent-simulatneously/43310)
**Author:** [@saya.saichandana](https://forum.universal-robots.com/u/saya.saichandana)\ **Replies:** 1\ **Last updated:** [September 21, 2026, 1:12am UTC](https://forum.universal-robots.com/t/rg2-gripper-urscript-sent-on-secondary-interface-and-rtde-servoj-commands-sent-simulatneously/43310 "2026-09-21T01:12:27Z")
I want to know what are the difficulties we face on simultaneously sending the UR Script on secondary interface (port 30002) and servoJ commands through ur\_rtde python library ? I am running these on two different thread… --- ## [The version issue of UR7e](https://forum.universal-robots.com/t/the-version-issue-of-ur7e/43342)
**Author:** [@834517981](https://forum.universal-robots.com/u/834517981)\ **Replies:** 12\ **Last updated:** [September 19, 2026, 5:14am UTC](https://forum.universal-robots.com/t/the-version-issue-of-ur7e/43342 "2026-09-19T05:14:28Z")
Why did my UR7e robotic arm downgrade from version 5.25.2 to version 5.12.7 or 5.12.8, and after the startup page loaded to 100% progress, it was unable to enter the main page? --- ## [Move Nodes Up and Down](https://forum.universal-robots.com/t/move-nodes-up-and-down/14079)
**Author:** [@rfmatos](https://forum.universal-robots.com/u/rfmatos)\ **Replies:** 3\ **Last updated:** [September 19, 2026, 12:12am UTC](https://forum.universal-robots.com/t/move-nodes-up-and-down/14079 "2026-09-19T00:12:26Z")
Hello, Is anyone able to help with the code that allows you to move a node up and down exactly as the buttons below do? Thank you in advance. Best regards. --- ## [Concrete floor causing UR30 to vibrate and self-oscillate](https://forum.universal-robots.com/t/concrete-floor-causing-ur30-to-vibrate-and-self-oscillate/43295)
**Author:** [@joachim](https://forum.universal-robots.com/u/joachim)\ **Replies:** 3\ **Last updated:** [September 18, 2026, 5:43pm UTC](https://forum.universal-robots.com/t/concrete-floor-causing-ur30-to-vibrate-and-self-oscillate/43295 "2026-09-18T17:43:16Z")
I have three identical setups that are installed on different kinds of floor. Two on concrete floors in the office of two different customers, and a third one in our office which is mounted on a large wooden board sittin… --- ## [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:** 3\ **Last updated:** [September 18, 2026, 5:30pm UTC](https://forum.universal-robots.com/t/sanding-cobot-precision/43272 "2026-09-18T17:30:12Z")
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… --- ## [Usar PolyScope 5 en la nueva controladora CB5.6 con PolyScope X](https://forum.universal-robots.com/t/usar-polyscope-5-en-la-nueva-controladora-cb5-6-con-polyscope-x/43351)
**Author:** [@Carlos\_de\_UR](https://forum.universal-robots.com/u/Carlos_de_UR)\ **Replies:** 0\ **Last updated:** [September 18, 2026, 2:48pm UTC](https://forum.universal-robots.com/t/usar-polyscope-5-en-la-nueva-controladora-cb5-6-con-polyscope-x/43351 "2026-09-18T14:48:32Z")
Es posible usar el sistema operativo PolyScope 5.6 en las nuevas controladoras CB5.6 con PolyScope X. Solo la última versión de PolyScope 5 , la 5.26.x LTS es compatible con esta nueva controladora. Simplemente hay que… --- ## [Step Jogging Tool URCap](https://forum.universal-robots.com/t/step-jogging-tool-urcap/41857)
**Author:** [@funing.hu](https://forum.universal-robots.com/u/funing.hu)\ **Replies:** 5\ **Last updated:** [September 17, 2026, 2:30pm UTC](https://forum.universal-robots.com/t/step-jogging-tool-urcap/41857 "2026-09-17T14:30:37Z")
JogTool-1.0.3.urcap (228.8 KB) Hi, as the whole world being overwhelmed by PolyScope X, there are still some users utilizing PolyScope 5 in real application, the build-in Move UI only permit me to do a continuous joggin… --- ## [Overview of used ports on local host](https://forum.universal-robots.com/t/overview-of-used-ports-on-local-host/8889)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 41\ **Last updated:** [August 14, 2026, 1:56am UTC](https://forum.universal-robots.com/t/overview-of-used-ports-on-local-host/8889 "2026-08-14T01:56:04Z")
This is a wiki post, so everyone that is distributing their URCap(s) and is using a port on local host shall add their usage here: Port Number Interface 22 SSH/sFTP 80 Reserved by UR 443 UR Connect 502 Mod… --- ## [Free Modbus Simulator for Modbus TCP & RTU to test URCap when there is no PLC](https://forum.universal-robots.com/t/free-modbus-simulator-for-modbus-tcp-rtu-to-test-urcap-when-there-is-no-plc/43339)
**Author:** [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\ **Replies:** 0\ **Last updated:** [September 17, 2026, 3:55am UTC](https://forum.universal-robots.com/t/free-modbus-simulator-for-modbus-tcp-rtu-to-test-urcap-when-there-is-no-plc/43339 "2026-09-17T03:55:57Z")
We have been using this free Modbus tool to test our urcap when there is no PLC or HMI available. https://tamidas.com/modbus-simulator Just thought of sharing if anyone is looking for a free modbus simulator. --- ## [How to Set Up the Polyscope X Robotiq Gripper Tool](https://forum.universal-robots.com/t/how-to-set-up-the-polyscope-x-robotiq-gripper-tool/43338)
**Author:** [@jmlee](https://forum.universal-robots.com/u/jmlee)\ **Replies:** 0\ **Last updated:** [September 17, 2026, 2:29am UTC](https://forum.universal-robots.com/t/how-to-set-up-the-polyscope-x-robotiq-gripper-tool/43338 "2026-09-17T02:29:07Z")
Hello, I am using the UR7e OEM DC Controller Polyscope X version. I connected Robotiq E-Series 2F 85 to the UR Robot Tool and confirmed that it was operating normally using the Robotiq program inside TeachPendant. I ch… --- ## [Swagger Page Issues](https://forum.universal-robots.com/t/swagger-page-issues/43336)
**Author:** [@joel.tanner](https://forum.universal-robots.com/u/joel.tanner)\ **Replies:** 0\ **Last updated:** [September 16, 2026, 6:10pm UTC](https://forum.universal-robots.com/t/swagger-page-issues/43336 "2026-09-16T18:10:59Z")
Summary Swagger page is incomplete in listed conditions. What is it? Is it possible to update the swagger page so that all conditions are listed. For example on 10.14 Preview the safety mode can return 3pe stop and viol… --- ## [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… --- ## [Heads-up: PolyScope X Frontend REST calls should not use control box addresses or servicegateway](https://forum.universal-robots.com/t/heads-up-polyscope-x-frontend-rest-calls-should-not-use-control-box-addresses-or-servicegateway/43335)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 0\ **Last updated:** [September 16, 2026, 1:25pm UTC](https://forum.universal-robots.com/t/heads-up-polyscope-x-frontend-rest-calls-should-not-use-control-box-addresses-or-servicegateway/43335 "2026-09-16T13:25:21Z")
Why we are bringing this up With the introduction of Gen 7, we have observed several URCaps failing in certain deployment scenarios because frontend code communicates with backend services using fixed hostnames, control… --- ## [E-series Polyscope 5.26 URCap daemon python compatability](https://forum.universal-robots.com/t/e-series-polyscope-5-26-urcap-daemon-python-compatability/43279)
**Author:** [@boris.tityukov](https://forum.universal-robots.com/u/boris.tityukov)\ **Replies:** 2\ **Last updated:** [September 15, 2026, 5:23pm UTC](https://forum.universal-robots.com/t/e-series-polyscope-5-26-urcap-daemon-python-compatability/43279 "2026-09-15T17:23:54Z")
Hello, is it possible to run python 3.6+ code inside of a URCap daemon for a UR3e cobot with Polyscope 5.26 or we’re limited to python 2.7? --- ## [Black 3D viewport in URSim 5.26 (E-Series) running on VirtualBox 7.2.14 (x64) on Windows](https://forum.universal-robots.com/t/black-3d-viewport-in-ursim-5-26-e-series-running-on-virtualbox-7-2-14-x64-on-windows/43301)
**Author:** [@SiemStev](https://forum.universal-robots.com/u/SiemStev)\ **Replies:** 1\ **Last updated:** [September 15, 2026, 10:18am UTC](https://forum.universal-robots.com/t/black-3d-viewport-in-ursim-5-26-e-series-running-on-virtualbox-7-2-14-x64-on-windows/43301 "2026-09-15T10:18:59Z")
Hi everyone, I’m having an issue with URSim 5.26.1 (E-Series) where the 3D viewport remains completely black after startup. The UI loads fine, but the robot visualization does not appear. My setup: Host OS: Windows (… --- ## [New UR generation for Arm, CB and Teach Pendant!](https://forum.universal-robots.com/t/new-ur-generation-for-arm-cb-and-teach-pendant/43323)
**Author:** [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Replies:** 0\ **Last updated:** [September 14, 2026, 4:44pm UTC](https://forum.universal-robots.com/t/new-ur-generation-for-arm-cb-and-teach-pendant/43323 "2026-09-14T16:44:04Z")
Great news! (kind of) As some of us knew be rumours UR recognized the lack of connectivity through the arm and therefore the frequent need of having ugly and hindering cable along, and they are working on new HW. Today … --- ## [Can I downgrade from PolyScope X 10.11 to PolyScope 5.26 on a CB5.6 UR7e?](https://forum.universal-robots.com/t/can-i-downgrade-from-polyscope-x-10-11-to-polyscope-5-26-on-a-cb5-6-ur7e/42886)
**Author:** [@zhengyutao](https://forum.universal-robots.com/u/zhengyutao)\ **Replies:** 5\ **Last updated:** [September 7, 2026, 1:59pm UTC](https://forum.universal-robots.com/t/can-i-downgrade-from-polyscope-x-10-11-to-polyscope-5-26-on-a-cb5-6-ur7e/42886 "2026-09-07T13:59:00Z")
Hi, I am using a UR7e with a CB5.6 controller running PolyScope X 10.11. For my research setup (ROS2, External Control, Robotiq 2F-85, and third-party integrations), I have found the user experience and compatibility o… --- ## [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… --- ## [UR5 Maximum Joint Force Limits](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006)
**Author:** [@anon48882232](https://forum.universal-robots.com/u/anon48882232)\ **Replies:** 12\ **Last updated:** [September 2, 2026, 4:28pm UTC](https://forum.universal-robots.com/t/ur5-maximum-joint-force-limits/4006 "2026-09-02T16:28:36Z")
I am trying to find the maximum force and power limits of each joint for a UR5, but I can’t seem to find it in any manuals. Where would I find this information? --- ## [Error C403A0: Danger of clamping between the robot lower arm and tool](https://forum.universal-robots.com/t/error-c403a0-danger-of-clamping-between-the-robot-lower-arm-and-tool/16142)
**Author:** [@hla](https://forum.universal-robots.com/u/hla)\ **Replies:** 5\ **Last updated:** [September 2, 2026, 10:04am UTC](https://forum.universal-robots.com/t/error-c403a0-danger-of-clamping-between-the-robot-lower-arm-and-tool/16142 "2026-09-02T10:04:09Z")
I receive this error when the flange gets close the lower arm (the link between the elbow joint and wrist 1 joint), event though there is at least 1,5cm between my tool and the arm. This error engage the protective stop … --- ## [Robot boots into a Fault](https://forum.universal-robots.com/t/robot-boots-into-a-fault/43255)
**Author:** [@alexw](https://forum.universal-robots.com/u/alexw)\ **Replies:** 3\ **Last updated:** [September 2, 2026, 9:09am UTC](https://forum.universal-robots.com/t/robot-boots-into-a-fault/43255 "2026-09-02T09:09:55Z")
I am currently using a UR15 running PolyScope version 5.26. I do not have a teach pendant connected; I am using an external 3-position enabling switch instead. When I power on the robot while it is in Remote Mode, it st… --- ## [End of life notification: Realtime interface 30003/30013, Polyscope X 10.16](https://forum.universal-robots.com/t/end-of-life-notification-realtime-interface-30003-30013-polyscope-x-10-16/43268)
**Author:** [@mmi](https://forum.universal-robots.com/u/mmi)\ **Replies:** 0\ **Last updated:** [September 2, 2026, 8:15am UTC](https://forum.universal-robots.com/t/end-of-life-notification-realtime-interface-30003-30013-polyscope-x-10-16/43268 "2026-09-02T08:15:16Z")
The Realtime Interface (also known as the Matlab Interface), available on ports 30003 and 30013, will be removed from PolyScope X. The last software version in which this interface will be available is 10.15. Migration … --- ## [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… --- ## [Rebuilding .urp file XML change](https://forum.universal-robots.com/t/rebuilding-urp-file-xml-change/42389)
**Author:** [@RobotsThink](https://forum.universal-robots.com/u/RobotsThink)\ **Replies:** 5\ **Last updated:** [September 1, 2026, 3:33pm UTC](https://forum.universal-robots.com/t/rebuilding-urp-file-xml-change/42389 "2026-09-01T15:33:44Z")
Is there an example of successfully unzipping .URP file \> changing XML \> rezipping \> opening successfully in teach pendant? I cant find any successful attempt of this. I am working in 5.13. --- ## [Polyscope X Relative Movements](https://forum.universal-robots.com/t/polyscope-x-relative-movements/42620)
**Author:** [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Replies:** 1\ **Last updated:** [August 28, 2026, 8:43am UTC](https://forum.universal-robots.com/t/polyscope-x-relative-movements/42620 "2026-08-28T08:43:04Z")
Summary Add a teachable relative movement node to PolyScope X, equivalent to the relative move functionality available in PolyScope 5. What is it? The feature request is a native, teachable relative movement node in Po… --- ## [Waypoints (in a feature) not being saved after a reboot](https://forum.universal-robots.com/t/waypoints-in-a-feature-not-being-saved-after-a-reboot/39766)
**Author:** [@mattd](https://forum.universal-robots.com/u/mattd)\ **Replies:** 5\ **Last updated:** [August 27, 2026, 12:03pm UTC](https://forum.universal-robots.com/t/waypoints-in-a-feature-not-being-saved-after-a-reboot/39766 "2026-08-27T12:03:55Z")
I have a subroutine in my main program (Pick\_Block\_Left) where I cannot save waypoints properly. The waypoints are all taught in a feature (BladeBlockStack). The feature seems to save it’s position correctly. I will te… --- ## [How to get my .urcontrol file?](https://forum.universal-robots.com/t/how-to-get-my-urcontrol-file/25722)
**Author:** [@zhangtianwei](https://forum.universal-robots.com/u/zhangtianwei)\ **Replies:** 14\ **Last updated:** [August 26, 2026, 4:19pm UTC](https://forum.universal-robots.com/t/how-to-get-my-urcontrol-file/25722 "2026-08-26T16:19:49Z")
Hi guys, I got a same problem with https://forum.universal-robots.com/t/how-to-backup-the-urcontrol-folder/5921?u=zhangtianwei, I tried to update my UR5 polyscope from 3.10 to 3.15, but it cannot unpack the update file,… --- ## [Problems Software Update - SW 5.26.0 LTS - UR e-Series](https://forum.universal-robots.com/t/problems-software-update-sw-5-26-0-lts-ur-e-series/43230)
**Author:** [@tor.pedersen](https://forum.universal-robots.com/u/tor.pedersen)\ **Replies:** 7\ **Last updated:** [August 26, 2026, 12:15pm UTC](https://forum.universal-robots.com/t/problems-software-update-sw-5-26-0-lts-ur-e-series/43230 "2026-08-26T12:15:45Z")
We have 8 UR Cobots (UR3e, UR5e, UR10e, and UR8L) with different configurations and end effectors. The upgrade from version 5.25.2 to 5.26.0 was performed without completing the final step of releasing the brakes and sta… [Next page](https://forum.universal-robots.com/latest.md?page=1)