# Calling Pose from URCap generated Waypoint misses TCP Offset
**URL:** https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275
**Category:** Technical Questions
**Tags:** bugs
**Created:** [July 10, 2018, 7:14am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275 "2018-07-10T07:14:56Z")
**Posts on this page:** 17
**Page:** 1
### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [July 10, 2018, 7:14am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/1 "2018-07-10T07:14:56Z")
Hi,
when i create a Waypoint with the URCap Api it adds the Waypoint under a MoveNode and its Configuration is shown like this:
when i click “Set Waypoint” all seems normal and the below Menu is openend:
Note that the Robot Position is the same as shown in the Animation in the Waypoint Menu.
The Problem is when i click “Edit pose” it does not calculate the TCP Offset and the Robot is using its tool Flange as TCP:
it seems that this is a Representation Problem. When i Cancel the “Edit Pose” Menu everthing is fine.
This only occurs when creating the Waypoints through the URCap API.
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### Author:  [@inu](https://forum.universal-robots.com/u/inu)
#### Post date: [July 12, 2018, 8:41am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/2 "2018-07-12T08:41:16Z")
How did you generate the waypoint?
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [July 12, 2018, 8:52am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/3 "2018-07-12T08:52:42Z")
i’m adding it through the URCap API Version 1.3.55
This Problem also occurs in the Ellipse example Program 😉
My TCP Config is:
X: -0.77 mm
Y: -21.25 mm
Z: 415.2 mm
RX: 1.9246 rad
RY: -1.8169 rad
RZ: 0.5600 rad
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### Author:  [@anon12495347](https://forum.universal-robots.com/u/anon12495347)
#### Post date: [November 1, 2018, 8:20am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/4 "2018-11-01T08:20:07Z")
Hi, since I have a similar problem, is there any solution available ?
Or, when can we expect a solution ? We need it really for our customers who do like to start using our URCAP.
Thanks.
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [November 1, 2018, 9:35am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/5 "2018-11-01T09:35:00Z")
Our temporary solution is telling our customers do not use edit Pose. 🙈
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### Author:  [@anon12495347](https://forum.universal-robots.com/u/anon12495347)
#### Post date: [November 1, 2018, 10:13am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/6 "2018-11-01T10:13:54Z")
Ohh. Temporary = 4 months already ??
Yes, this seems to be the only work around, but this is not a solution I think. …
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [November 1, 2018, 10:44am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/7 "2018-11-01T10:44:27Z")
Another workaround is to program custom waypoint urcap nodes which we did already…
Problem also occurs in the new e-Series
@jbm please fix it ☹
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### Author:  [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [November 14, 2018, 9:18am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/8 "2018-11-14T09:18:19Z")
Which version of PolyScope and URCap API is used?
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [November 14, 2018, 9:30am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/9 "2018-11-14T09:30:26Z")
PolyScope 3.6.0
with api 1.2.56
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### Author:  [@anon12495347](https://forum.universal-robots.com/u/anon12495347)
#### Post date: [November 14, 2018, 11:24am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/10 "2018-11-14T11:24:15Z")
Samen happens with 3.7.0; please check also [problem with getuserdefined robot position](https://forum.universal-robots.com/t/problem-with-getuserdefinedrobotposition-joint-positions/2981).
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### Author:  [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [November 14, 2018, 11:42am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/11 "2018-11-14T11:42:15Z")
We are investigating the issue.
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [December 6, 2018, 10:04am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/12 "2018-12-06T10:04:00Z")
any news about this? 🙂
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### Author:  [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [December 6, 2018, 10:06am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/13 "2018-12-06T10:06:14Z")
Error has been reproduced, and a fix is planned for next minor release (3.9/5.3).
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [December 6, 2018, 10:06am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/14 "2018-12-06T10:06:54Z")
@jbm thanks !😊
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### Author:  [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)
#### Post date: [March 22, 2019, 9:52am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/15 "2019-03-22T09:52:44Z")
This Problem:
> [@API generated Waypoints lack in Range of TCP Offset](https://forum.universal-robots.com/t/api-generated-waypoints-lack-in-range-of-tcp-offset/3111):
>
> Hi, i faced another Bug when creating API generated Waypoints with a TCP Offset of Z = 400 mm: when i create a Waypoint with this Pose through the Polyscope UI: everything is fine: but if i use the same Pose for a API generated Waypoint i get an Error that the Inverse kinematics could not find a solution: (Ellipse Example) Please note that this has nothing to do with reachable Ellipse Points it is just an example to reproduce the error. It even c…
still occurs on PolyScope Release 5.3 using API 1.5.0
Did i miss something that must be changed through the new API 1.6.0 ?
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### Author:  [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [March 22, 2019, 10:08am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/16 "2019-03-22T10:08:13Z")
Can you verify, that the problem listed in this topic is resolved in 3.9/5.3?
The behavior wrt. the Ellipse example is unrelated.
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### Author:  [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [March 25, 2019, 11:57am UTC](https://forum.universal-robots.com/t/calling-pose-from-urcap-generated-waypoint-misses-tcp-offset/2275/17 "2019-03-25T11:57:03Z")
This issue is resolved in PolyScope 3.9.
> [@Release of URCap SDK 1.6.1, PolyScope 5.3 and 3.9](https://forum.universal-robots.com/t/release-of-urcap-sdk-1-6-1-polyscope-5-3-and-3-9/3902):
>
> Release of URCap API 1.6.0, PolyScope 5.3 and PolyScope 3.9 Dear valued developers, Universal Robots is delighted to announce, that we are now releasing a new software, to continuously deliver more value to you and our customers. The new release consist of: PolyScope 5.3.0 for e-Series PolyScope 3.9.0 for CB3 URCap SDK 1.6.1 including URCap API 1.6.0 for both platforms Key features The key features in this release is: API Support for configuring TCP’s on Move nodes Parent nodes can now s…