# Latest **URL:** https://forum.universal-robots.com/latest.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 --- ## [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… --- ## [Has anyone used RoboMon, and if so is it worth the money?](https://forum.universal-robots.com/t/has-anyone-used-robomon-and-if-so-is-it-worth-the-money/42997)
**Author:** [@ameeks](https://forum.universal-robots.com/u/ameeks)\ **Replies:** 0\ **Last updated:** [June 25, 2026, 12:36pm UTC](https://forum.universal-robots.com/t/has-anyone-used-robomon-and-if-so-is-it-worth-the-money/42997 "2026-06-25T12:36:23Z")
Hey all, We have about 10 UR10e welding cobots that we would like to be able to remote monitor for efficiency and to predict when PM will need to be done. Have any of you used RoboMon and did you like its functionality? … --- ## [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. --- ## [Robot is not moving while using RTDE communication](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572)
**Author:** [@ozima](https://forum.universal-robots.com/u/ozima)\ **Replies:** 4\ **Last updated:** [June 25, 2026, 7:35am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572 "2026-06-25T07:35:31Z")
Good day, UR Enthusiasts! I have a UR7e with PolyScope X (updated from 10.9.0 to 10.11.0). The robot is connected to the network via Ethernet, and the network settings are configured. It’s accessible from another compute… --- ## [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… --- ## [AI Accelerator: Who executes /ur\_cumotion/last\_planned\_trajectory?](https://forum.universal-robots.com/t/ai-accelerator-who-executes-ur-cumotion-last-planned-trajectory/42959)
**Author:** [@erik.tonner](https://forum.universal-robots.com/u/erik.tonner)\ **Replies:** 0\ **Last updated:** [June 19, 2026, 6:48am UTC](https://forum.universal-robots.com/t/ai-accelerator-who-executes-ur-cumotion-last-planned-trajectory/42959 "2026-06-19T06:48:25Z")
Hi, we are evaluating the UR AI Accelerator with a real UR5e and Isaac Sim. Current status: ur\_cumotion\_planner\_node is running /IP192168000100/ur\_cumotion/plan\_motion works /IP192168000100/ur\_cumotion/plan\_multi\_goa… --- ## [Execution line number to be displayed on the execution screen](https://forum.universal-robots.com/t/execution-line-number-to-be-displayed-on-the-execution-screen/42958)
**Author:** [@p.t.minh.fa](https://forum.universal-robots.com/u/p.t.minh.fa)\ **Replies:** 0\ **Last updated:** [June 19, 2026, 6:06am UTC](https://forum.universal-robots.com/t/execution-line-number-to-be-displayed-on-the-execution-screen/42958 "2026-06-19T06:06:28Z")
I want the execution line number to be displayed on the execution screen. --- ## [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 … --- ## [How do I use the RTDE with Python?](https://forum.universal-robots.com/t/how-do-i-use-the-rtde-with-python/25401)
**Author:** [@anon90789744](https://forum.universal-robots.com/u/anon90789744)\ **Replies:** 9\ **Last updated:** [June 17, 2026, 11:24pm UTC](https://forum.universal-robots.com/t/how-do-i-use-the-rtde-with-python/25401 "2026-06-17T23:24:25Z")
I have been trying to understand the RTDE, following the guides and example code but I do not understand how to implement the RTDE in such a way that I can read a signal from the UR cobot. I am completely lost. --- ## [URScript Waypoint\_p With Features Migration Not updating](https://forum.universal-robots.com/t/urscript-waypoint-p-with-features-migration-not-updating/42291)
**Author:** [@Jack\_N](https://forum.universal-robots.com/u/Jack_N)\ **Replies:** 7\ **Last updated:** [June 17, 2026, 2:31pm UTC](https://forum.universal-robots.com/t/urscript-waypoint-p-with-features-migration-not-updating/42291 "2026-06-17T14:31:01Z")
Hello, I have 576 Waypoints taught (some still to teach) with a feature plane in the Pendant. I am looping through them by putting the waypoints into an array with URScript (e.g. Pal1=\[PickPos1\_p, …., PickPos12\_p\] ) T… --- ## [Handshake Logic](https://forum.universal-robots.com/t/handshake-logic/42898)
**Author:** [@award](https://forum.universal-robots.com/u/award)\ **Replies:** 6\ **Last updated:** [June 17, 2026, 2:28pm UTC](https://forum.universal-robots.com/t/handshake-logic/42898 "2026-06-17T14:28:26Z")
Hello, I am using a UR 10E to weld 2 separate stations, station A and station B. I want to be able to use two separate buttons on either station to tell the robot that station A or B is ready. While station A is welding … --- ## [RTDE\_Python\_Client\_Library installation JUN2026](https://forum.universal-robots.com/t/rtde-python-client-library-installation-jun2026/42935)
**Author:** [@geoff104](https://forum.universal-robots.com/u/geoff104)\ **Replies:** 0\ **Last updated:** [June 16, 2026, 5:24pm UTC](https://forum.universal-robots.com/t/rtde-python-client-library-installation-jun2026/42935 "2026-06-16T17:24:18Z")
Hi, I’m using a windows PC, with python 3.12.10. I’ve followed the RTDE\_Python\_Client\_Library github instructions for installing the library: git clone GitHub - UniversalRobots/RTDE\_Python\_Client\_Library: RTDE client l… --- ## [RTDE example problems](https://forum.universal-robots.com/t/rtde-example-problems/42933)
**Author:** [@geoff104](https://forum.universal-robots.com/u/geoff104)\ **Replies:** 0\ **Last updated:** [June 16, 2026, 5:04pm UTC](https://forum.universal-robots.com/t/rtde-example-problems/42933 "2026-06-16T17:04:38Z")
Hi , I’m trying to get started with RTDE comms using python 3.12 on windows 11. I have downloaded a copy of the RTDE\_Python\_Client\_Library and opened the example ‘record.py’ in editor VSCode. Having already setup a ‘podm… --- ## [Getting logic program in Polyscope X](https://forum.universal-robots.com/t/getting-logic-program-in-polyscope-x/42921)
**Author:** [@hari](https://forum.universal-robots.com/u/hari)\ **Replies:** 1\ **Last updated:** [June 15, 2026, 2:52pm UTC](https://forum.universal-robots.com/t/getting-logic-program-in-polyscope-x/42921 "2026-06-15T14:52:36Z")
Hi, I am currently using a UR7e robot running a Polyscope X 10.13 version. I have an application where the robot has to communicate with a Siemens PLC. For that, I want to explore the possibilities of using the logic pr… --- ## [Help connecting Massive Dimension MDAC1 cabinet to UR5e I/O](https://forum.universal-robots.com/t/help-connecting-massive-dimension-mdac1-cabinet-to-ur5e-i-o/42925)
**Author:** [@esz.kollar](https://forum.universal-robots.com/u/esz.kollar)\ **Replies:** 0\ **Last updated:** [June 15, 2026, 12:33pm UTC](https://forum.universal-robots.com/t/help-connecting-massive-dimension-mdac1-cabinet-to-ur5e-i-o/42925 "2026-06-15T12:33:22Z")
Hi everyone, We have a UR5e and a Massive Dimension MDAC1 process cabinet for an extruder. From the documentation we received, it seems the standard MD Ethernet/IP communication is not suitable for our setup, so we need… --- ## [Code sequence handled different in automatic and manual mode](https://forum.universal-robots.com/t/code-sequence-handled-different-in-automatic-and-manual-mode/42903)
**Author:** [@mahler](https://forum.universal-robots.com/u/mahler)\ **Replies:** 5\ **Last updated:** [June 12, 2026, 11:39am UTC](https://forum.universal-robots.com/t/code-sequence-handled-different-in-automatic-and-manual-mode/42903 "2026-06-12T11:39:14Z")
PLease help me to understand and handle the different behaviour of the ur12e in manual and automatic/remote mode. My code sequence like: movej(pose1,…r\>0) movej(pose2,…r\>0) movej(pose3,…r=0) if(something = True): do… --- ## [Unable to open socket towards an external device connected to the UR Sim](https://forum.universal-robots.com/t/unable-to-open-socket-towards-an-external-device-connected-to-the-ur-sim/42914)
**Author:** [@stefanoan](https://forum.universal-robots.com/u/stefanoan)\ **Replies:** 2\ **Last updated:** [June 11, 2026, 3:40pm UTC](https://forum.universal-robots.com/t/unable-to-open-socket-towards-an-external-device-connected-to-the-ur-sim/42914 "2026-06-11T15:40:41Z")
Goodmorning, I’ve just installad the UR sim by using the Polyscope X SDK. I’m running the simulation and I would connect the sim to an external device by opening a socket (ip: 192.168.0.167 and port: 300). With the previ… --- ## [VNC to UR30 running Polyscope X 10.11.0](https://forum.universal-robots.com/t/vnc-to-ur30-running-polyscope-x-10-11-0/42916)
**Author:** [@alice.hierholz](https://forum.universal-robots.com/u/alice.hierholz)\ **Replies:** 0\ **Last updated:** [June 11, 2026, 1:47pm UTC](https://forum.universal-robots.com/t/vnc-to-ur30-running-polyscope-x-10-11-0/42916 "2026-06-11T13:47:06Z")
Hi, was anyone able to get a VNC to a UR30 running Polyscope X 10.11.0? --- ## [Is there any way to close a popup in PolyScopeX?](https://forum.universal-robots.com/t/is-there-any-way-to-close-a-popup-in-polyscopex/42906)
**Author:** [@hideto.maruyama](https://forum.universal-robots.com/u/hideto.maruyama)\ **Replies:** 2\ **Last updated:** [June 10, 2026, 12:06pm UTC](https://forum.universal-robots.com/t/is-there-any-way-to-close-a-popup-in-polyscopex/42906 "2026-06-10T12:06:31Z")
I want to close a popup remotely from a computer. The dashboard server in PolyScope 5.X has the ‘close popup’ commands. However, PolyScopeX’s Robot-API doesn’t have any commands to control popups. Example in the next p… --- ## [Understanding servoj and lookahead time](https://forum.universal-robots.com/t/understanding-servoj-and-lookahead-time/41813)
**Author:** [@yuvalarbiv](https://forum.universal-robots.com/u/yuvalarbiv)\ **Replies:** 2\ **Last updated:** [June 9, 2026, 2:19pm UTC](https://forum.universal-robots.com/t/understanding-servoj-and-lookahead-time/41813 "2026-06-09T14:19:56Z")
After reading all related topics in this forum, I am still left with a feeling that I don’t fully understand the functionality of the servoj, and the lookahead\_time specifically. (Please feel free to correct me.) As fa… --- ## [Moving Files from UR-Sim to a real Robot](https://forum.universal-robots.com/t/moving-files-from-ur-sim-to-a-real-robot/42867)
**Author:** [@felix.hesse](https://forum.universal-robots.com/u/felix.hesse)\ **Replies:** 6\ **Last updated:** [June 9, 2026, 1:10pm UTC](https://forum.universal-robots.com/t/moving-files-from-ur-sim-to-a-real-robot/42867 "2026-06-09T13:10:25Z")
Hello everyone, maybe some of you have already experienced this issue and can help me out. It is also possible that I simply did something wrong, but unfortunately I don’t know what it could be, as I have been strugglin… --- ## [Robotiq 2F-85 on Polyscope X – Is socket communication on port 63352 still supported?](https://forum.universal-robots.com/t/robotiq-2f-85-on-polyscope-x-is-socket-communication-on-port-63352-still-supported/42885)
**Author:** [@zhengyutao](https://forum.universal-robots.com/u/zhengyutao)\ **Replies:** 3\ **Last updated:** [June 9, 2026, 7:52am UTC](https://forum.universal-robots.com/t/robotiq-2f-85-on-polyscope-x-is-socket-communication-on-port-63352-still-supported/42885 "2026-06-09T07:52:28Z")
Hi everyone, I’m using: UR7e Polyscope X Robotiq 2F-85 Robotiq URCapX (version 3.28.0.122467) The gripper is connected to the wrist tool port and works correctly from the Polyscope X interface. I can scan, activate, … --- ## [How to do Polyscope X recovery and image reinstallation](https://forum.universal-robots.com/t/how-to-do-polyscope-x-recovery-and-image-reinstallation/42859)
**Author:** [@anton.kim](https://forum.universal-robots.com/u/anton.kim)\ **Replies:** 2\ **Last updated:** [June 7, 2026, 11:34am UTC](https://forum.universal-robots.com/t/how-to-do-polyscope-x-recovery-and-image-reinstallation/42859 "2026-06-07T11:34:04Z")
I had Polyscope X 10.9 and decided to install the latest update (10.12.1 at that time). I installed it the same way as always. Download .urup file Write it to a USB stick Insert the USB stick into teach pendant From th… --- ## [Connecting PC via Ethernet for Python Feedback Loops on a Vectis Welder (Safely)](https://forum.universal-robots.com/t/connecting-pc-via-ethernet-for-python-feedback-loops-on-a-vectis-welder-safely/42880)
**Author:** [@joseph.raineri](https://forum.universal-robots.com/u/joseph.raineri)\ **Replies:** 1\ **Last updated:** [June 5, 2026, 4:50pm UTC](https://forum.universal-robots.com/t/connecting-pc-via-ethernet-for-python-feedback-loops-on-a-vectis-welder-safely/42880 "2026-06-05T16:50:56Z")
Hi everyone, I’m looking to connect my PC directly to our UR cobot via Ethernet to start writing custom scripts and feedback loops using Python (running out of an Anaconda environment). Our system was originally built … [Previous page](https://forum.universal-robots.com/latest.md?page=3) [Next page](https://forum.universal-robots.com/latest.md?page=5)