Hi, when i create a Waypoint with the URCap Api it adds the Waypoint under a MoveNode and its Configuration is shown like this: [Waypoint] when i click “Set Waypoint” all seems normal and the below Menu is openend: [setWaypoint] Note that the Robot Position is the same as shown in the Animati…

This issue is resolved in PolyScope 3.9. [image] Release of URCap SDK 1.6.1, PolyScope 5.3 and 3.9 UR News & Announcements 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 a…

How did you generate the waypoint?

i’m adding it through the URCap API Version 1.3.55 This Problem also occurs in the Ellipse example Program :wink: 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

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.

Our temporary solution is telling our customers do not use edit Pose. :see_no_evil:

Ohh. Temporary = 4 months already ?? Yes, this seems to be the only work around, but this is not a solution I think. …

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 :frowning:

Which version of PolyScope and URCap API is used?

PolyScope 3.6.0 with api 1.2.56

Samen happens with 3.7.0; please check also problem with getuserdefined robot position .

We are investigating the issue.

Calling Pose from URCap generated Waypoint misses TCP Offset

Technical Questions

jbm March 25, 2019, 11:57am 17

This issue is resolved in PolyScope 3.9.

Topic		Replies	Views
API generated Waypoints lack in Range of TCP Offset Technical Questions bugs	10	1896	September 23, 2019
Problem with getUserDefinedRobotPosition / joint positions Technical Questions bugs	7	2582	July 9, 2019
Joints differ from RTDE values Technical Questions welding	10	1345	September 27, 2022
Wrong inverse calculation when adding a waypoint to a movej node Report a Bug	14	1248	August 5, 2021
FixedPositionDefinedWaypoint Java	1	874	December 6, 2021

Calling Pose from URCap generated Waypoint misses TCP Offset

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