# Latest **URL:** https://forum.universal-robots.com/latest.md?page=2 [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:** 3 --- ## [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 (… --- ## [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 … --- ## [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… --- ## [UR30 robot reports an error after shortening and re-soldering the cables between the robot and the controller](https://forum.universal-robots.com/t/ur30-robot-reports-an-error-after-shortening-and-re-soldering-the-cables-between-the-robot-and-the-controller/43210)
**Author:** [@marin.ma](https://forum.universal-robots.com/u/marin.ma)\ **Replies:** 1\ **Last updated:** [August 26, 2026, 9:00am UTC](https://forum.universal-robots.com/t/ur30-robot-reports-an-error-after-shortening-and-re-soldering-the-cables-between-the-robot-and-the-controller/43210 "2026-08-26T09:00:40Z")
I purchased a UR30 robot. Because of dust in our working environment, the robot needs to operate inside a sealed enclosure, while the control cabinet has to be placed outside. To make this work, I shortened the cables be… --- ## [UR10e / PolyScope 5.26.0 freezes after entering an unreachable Cartesian pose](https://forum.universal-robots.com/t/ur10e-polyscope-5-26-0-freezes-after-entering-an-unreachable-cartesian-pose/43222)
**Author:** [@yannick4](https://forum.universal-robots.com/u/yannick4)\ **Replies:** 4\ **Last updated:** [August 23, 2026, 10:26am UTC](https://forum.universal-robots.com/t/ur10e-polyscope-5-26-0-freezes-after-entering-an-unreachable-cartesian-pose/43222 "2026-08-23T10:26:15Z")
Hi, I am experiencing a reproducible issue with a UR10e running PolyScope 5.26.0. For context, we have two UR10e robots. One robot originally had a defective joint. We replaced its complete robot arm with the arm from … --- ## [Passthrough trajectory controller no response for short goals or current position goal](https://forum.universal-robots.com/t/passthrough-trajectory-controller-no-response-for-short-goals-or-current-position-goal/43183)
**Author:** [@karthick.chandraseka](https://forum.universal-robots.com/u/karthick.chandraseka)\ **Replies:** 6\ **Last updated:** [August 20, 2026, 1:38pm UTC](https://forum.universal-robots.com/t/passthrough-trajectory-controller-no-response-for-short-goals-or-current-position-goal/43183 "2026-08-20T13:38:15Z")
Scenario: Passthrough trajectory controller says “Trajectory should be finished by now. You may want to cancel this goal, if it is not.” If short goals say 600 microns or giving current position as a goal says the abov… --- ## [Using dh gripper via modbus with control box](https://forum.universal-robots.com/t/using-dh-gripper-via-modbus-with-control-box/43195)
**Author:** [@rprieto](https://forum.universal-robots.com/u/rprieto)\ **Replies:** 1\ **Last updated:** [August 18, 2026, 2:15pm UTC](https://forum.universal-robots.com/t/using-dh-gripper-via-modbus-with-control-box/43195 "2026-08-18T14:15:13Z")
Hi everyone, I’m currently adapting an older Modbus RTU URCap to communicate with a DH Robotics gripper through a USB-to-RS485 adapter. I am using a UR3e. The original URCap uses: GitHub - EbbeFuglsang/Modbus\_URCap: A … --- ## [Move until contact creates a global variable?](https://forum.universal-robots.com/t/move-until-contact-creates-a-global-variable/43177)
**Author:** [@daldh](https://forum.universal-robots.com/u/daldh)\ **Replies:** 5\ **Last updated:** [August 17, 2026, 12:33pm UTC](https://forum.universal-robots.com/t/move-until-contact-creates-a-global-variable/43177 "2026-08-17T12:33:09Z")
I recently add movel until commands into my polyscope program and it’s creating “move\_thread\_Flag…” global variable and bogging up my variables tab. I’m running 5.25.2, anyone else come across this issue? --- ## [UR12e Beer Challenge - Has Anyone Done Something Similar? 🍺](https://forum.universal-robots.com/t/ur12e-beer-challenge-has-anyone-done-something-similar/43154)
**Author:** [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\ **Replies:** 8\ **Last updated:** [August 7, 2026, 12:53pm UTC](https://forum.universal-robots.com/t/ur12e-beer-challenge-has-anyone-done-something-similar/43154 "2026-08-07T12:53:23Z")
Hi everyone, we’ve just received a brand-new UR12e. It will be integrated into a new production line project this autumn, but for now it is sitting in my office because I still need to evaluate and test a few things. On… --- ## [Archetype com.ur.urcap:archetype:1.18.0](https://forum.universal-robots.com/t/archetype-com-ur-urcap1-18-0/42702)
**Author:** [@jorge.turiel](https://forum.universal-robots.com/u/jorge.turiel)\ **Replies:** 2\ **Last updated:** [August 6, 2026, 8:10am UTC](https://forum.universal-robots.com/t/archetype-com-ur-urcap1-18-0/42702 "2026-08-06T08:10:28Z")
Hello, I installed docker in windows, following this Dev Containers Setup Tutorial — PolyScope Tutorials documentation I downloaded the sdk from here GitHub - UniversalRobots/PolyScopeX\_URCap\_SDK · GitHub I open the fo… --- ## [How to monitor Control Box Temperature](https://forum.universal-robots.com/t/how-to-monitor-control-box-temperature/43165)
**Author:** [@Dan-UR](https://forum.universal-robots.com/u/Dan-UR)\ **Replies:** 0\ **Last updated:** [August 6, 2026, 8:00am UTC](https://forum.universal-robots.com/t/how-to-monitor-control-box-temperature/43165 "2026-08-06T08:00:52Z")
Related to Error code C742 Control Box temperature: C742 Control Box temperature In some applications it is desired to monitor the Control Box temperature, such that preventive action can be taken before the robot stops… --- ## [Inquiry Regarding the UR5 Robotiq Gripper Connection Issue](https://forum.universal-robots.com/t/inquiry-regarding-the-ur5-robotiq-gripper-connection-issue/43140)
**Author:** [@jmlee](https://forum.universal-robots.com/u/jmlee)\ **Replies:** 6\ **Last updated:** [August 6, 2026, 5:36am UTC](https://forum.universal-robots.com/t/inquiry-regarding-the-ur5-robotiq-gripper-connection-issue/43140 "2026-08-06T05:36:52Z")
A Robotiq gripper was attached to the UR5 robot arm tool. At this time, even scanning with Robotiq Gripper using URCap fails to find it, and the log window shows an error stating “Unhandled exception occurred in URCap ‘R… --- ## [Missing A0C0 PROGRAM\_XXX\_STOPPED/STARTED Primary Interface Messages in Polyscope 5.25.0 (UR7e, Remote Control Mode)](https://forum.universal-robots.com/t/missing-a0c0-program-xxx-stopped-started-primary-interface-messages-in-polyscope-5-25-0-ur7e-remote-control-mode/43162)
**Author:** [@jon\_17s](https://forum.universal-robots.com/u/jon_17s)\ **Replies:** 0\ **Last updated:** [August 4, 2026, 10:25am UTC](https://forum.universal-robots.com/t/missing-a0c0-program-xxx-stopped-started-primary-interface-messages-in-polyscope-5-25-0-ur7e-remote-control-mode/43162 "2026-08-04T10:25:50Z")
Hello, I am currently using a UR7e robot with Polyscope 5.25.0 in remote\_control mode. My workflow involves powering on the robot, releasing the brakes, and then loading and playing programs using Dashboard Interface c… --- ## [Why is the Force feature acting like this?](https://forum.universal-robots.com/t/why-is-the-force-feature-acting-like-this/43129)
**Author:** [@Ivory](https://forum.universal-robots.com/u/Ivory)\ **Replies:** 7\ **Last updated:** [August 4, 2026, 9:56am UTC](https://forum.universal-robots.com/t/why-is-the-force-feature-acting-like-this/43129 "2026-08-04T09:56:27Z")
I do not understand why this Force feature from the Templates tab is skipping waypoint my\_z\_height. It will only do this skip after a few seconds (maybe 6 seconds) of holding the tool flange in place with my hand. What … --- ## [UR3 J3 too high](https://forum.universal-robots.com/t/ur3-j3-too-high/43157)
**Author:** [@tom.dutton](https://forum.universal-robots.com/u/tom.dutton)\ **Replies:** 1\ **Last updated:** [August 3, 2026, 4:43pm UTC](https://forum.universal-robots.com/t/ur3-j3-too-high/43157 "2026-08-03T16:43:17Z")
Hi All, I have come into inheritance of a UR3. It seems in good condition, however there’s one thing wrong: joint 3 (elbow) is at \>180 degrees. This means it can only rotate up to 359 degrees. If I try to go below 180 d… --- ## [Image in popup?](https://forum.universal-robots.com/t/image-in-popup/16493)
**Author:** [@anon88656835](https://forum.universal-robots.com/u/anon88656835)\ **Replies:** 7\ **Last updated:** [July 31, 2026, 4:44pm UTC](https://forum.universal-robots.com/t/image-in-popup/16493 "2026-07-31T16:44:56Z")
Functionality I would like: Present an image (snapshot from camera) in a popup and present a boolean question to the user about the image. So something like request\_boolean\_from\_primary\_client(“string”) but with the ab… --- ## [Using ur\_rtde with UR7e + PolyScope X](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676)
**Author:** [@zhengyutao](https://forum.universal-robots.com/u/zhengyutao)\ **Replies:** 4\ **Last updated:** [July 31, 2026, 12:58pm UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676 "2026-07-31T12:58:11Z")
Hi all, I’m currently working with a UR7e robot running PolyScope X, and I’m trying to use the ur\_rtde interface for real-time control (e.g., servoJ / RTDEControlInterface). However, I’m confused about compatibility wi… --- ## [Live Data Exhange using FTP/SFTP upload from Grasshopper?](https://forum.universal-robots.com/t/live-data-exhange-using-ftp-sftp-upload-from-grasshopper/43145)
**Author:** [@ebarn41](https://forum.universal-robots.com/u/ebarn41)\ **Replies:** 2\ **Last updated:** [July 30, 2026, 2:54pm UTC](https://forum.universal-robots.com/t/live-data-exhange-using-ftp-sftp-upload-from-grasshopper/43145 "2026-07-30T14:54:10Z")
I am trying to include a feature that allows the user of the robot to be able to change live parameters such as robot speed or extrusion speed (for 3D printing concrete) as the robot itself is running the printing progra… --- ## [How to run a long script from grasshopper in UR10e](https://forum.universal-robots.com/t/how-to-run-a-long-script-from-grasshopper-in-ur10e/34046)
**Author:** [@macbaus](https://forum.universal-robots.com/u/macbaus)\ **Replies:** 16\ **Last updated:** [July 28, 2026, 4:08pm UTC](https://forum.universal-robots.com/t/how-to-run-a-long-script-from-grasshopper-in-ur10e/34046 "2026-07-28T16:08:56Z")
Hi all, We are trying to run a 3d printing script created with the robots plug-in for grasshopper. Due to the quality of the print it comes to 40k lines of code, we run to an issue were the robot takes to long to load … [Previous page](https://forum.universal-robots.com/latest.md?page=1) [Next page](https://forum.universal-robots.com/latest.md?page=3)