# Changing TCP configuration - URCap

**URL:** <https://forum.universal-robots.com/t/changing-tcp-configuration-urcap/5502>\
**Category:** Java\
**Created:** [November 6, 2019, 12:32pm UTC](https://forum.universal-robots.com/t/changing-tcp-configuration-urcap/5502 "2019-11-06T12:32:50Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![bernd.heinzmann](https://avatars.discourse-cdn.com/v4/letter/b/c2a13f/32.png) [@bernd.heinzmann](https://forum.universal-robots.com/u/bernd.heinzmann)\
**Post date:** [November 6, 2019, 12:32pm UTC](https://forum.universal-robots.com/t/changing-tcp-configuration-urcap/5502/1 "2019-11-06T12:32:50Z")

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Is there a minimal working example how to implement in a URCap the function “Change the TCP settings” ?

I want to use the package: “com.ur.urcap.api.contribution.driver.general.tcp.TCPConfiguration” and the method setTCP().

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [November 12, 2019, 7:25am UTC](https://forum.universal-robots.com/t/changing-tcp-configuration-urcap/5502/2 "2019-11-12T07:25:36Z")

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Hi,

this is covered in the driver.gripper.customgrippersetup URCap Example included in the API 1.8.0 Package

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**Author:** ![bernd.heinzmann](https://avatars.discourse-cdn.com/v4/letter/b/c2a13f/32.png) [@bernd.heinzmann](https://forum.universal-robots.com/u/bernd.heinzmann)\
**Post date:** [November 14, 2019, 7:41am UTC](https://forum.universal-robots.com/t/changing-tcp-configuration-urcap/5502/3 "2019-11-14T07:41:07Z")

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Thanks.  
With your sample in …/sdk-1.8.0/samples/driver/gripper/com.ur.urcap.examples.driver.gripper.customgrippersetup I could **solve it successfully**.