# Disable URCap or program node in a Polyscope program

**URL:** <https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533>\
**Category:** Technical Questions\
**Tags:** polyscope, program-node\
**Created:** [January 29, 2019, 8:19am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533 "2019-01-29T08:19:46Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\
**Post date:** [January 29, 2019, 8:19am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533/1 "2019-01-29T08:19:46Z")

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It is disabled in yellow when I add the urcap I created in the robot program. I want to know how to activate urcap to start the robot program.

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [January 29, 2019, 8:23am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533/2 "2019-01-29T08:23:02Z")

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If a program node is not defined (`isDefined()` --\> false), it is yellow.  
Hence is not able to execute.

If the node returns true to isDefined, the node turns defined, and the program is able to execute.

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**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\
**Post date:** [January 30, 2019, 2:15am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533/3 "2019-01-30T02:15:13Z")

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Where do I define what part of my URCap program will work when I start the robot program?

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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:** [January 30, 2019, 7:16am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533/4 "2019-01-30T07:16:23Z")

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what’s your task and your urcap structure?  
you can use child nodes to dynamically add and remove other custom urcaps or built-in functions like wait nodes etc.  
Another option is to use the suppress function if you wish to temporary skip a program node.  
If you want your urcap to generate Urscript depending on a input variable u can do so by implementing it in the generateScript Function of your ProgramNodeContribution

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**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [January 27, 2021, 12:47am UTC](https://forum.universal-robots.com/t/disable-urcap-or-program-node-in-a-polyscope-program/3533/6 "2021-01-27T00:47:15Z")

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