Here’s the CAP @fuknrekd . Just install it like any other.
TCPhelper-1.0.0.urcap (30.2 KB)
Looks like this. You hit the UR+ button along the top, and click the TCP one (if you have multiple CAPs that contribute toolbars). Just tap the dropdown and a list of your TCPs should show up. Pick one, then press the “Set TCP” button to actually set it as active.
2 small notes:
You can only interact with the controls in Manual mode (or remote if a password has not been set).
The list of TCPs is updated when opening the toolbar. This means if you have it open, then make TCPs, they won’t appear in the list until you close and reopen the toolbar. This shouldn’t be a big deal, since you likely have the TCPs already taught.
I’m snowed in right now, so don’t have access to my real robot, but it looked like it was working on my simulator so you’re welcome to give this a try.