Good day everyone.
Is it still possible to make customized C program for the UR controller?
Before, there were 3 ways of controlling the robot.
1. GUI (Polyscope)
2. UR Script
3. C-API
Starting from version SW3.3…UR removed C-API.
And it’s hard to find a reference/information about it now.
Any help would be greatly appreciated. 
Hi @dean-m,
You’re right that it’s no longer supported, but a lot of the same functionality can be achieved using the RTDE interface. What is it that you’re looking to do?
Hi,
we have a CB2 UR10 (actually two of them mounted on a pi4 workerbot from before 2015) for a research project that involves dynamic motions, for which being able use the C-API would probably help a lot, since we can’t use any of the newer interfaces such as RTDE. We are currently using a modified version of the ur_modern_driver (outside a ROS context) which has some limitations and we would like to run parts of the software directly on the control box.
Is there any possibility to still get the C-API from somewhere even though it is not supported by current hardware? The only link I found is dead (http://ur-update.dk/URsupport/Software/C-API/ on ur_c_api_bringup - ROS Wiki).