# G-Code Outputs for M3?

**URL:** <https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999>\
**Category:** URCap Development\
**Created:** [January 7, 2020, 7:03am UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999 "2020-01-07T07:03:17Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![ronny.buch](https://avatars.discourse-cdn.com/v4/letter/r/e480ec/32.png) [@ronny.buch](https://forum.universal-robots.com/u/ronny.buch)\
**Post date:** [January 7, 2020, 7:03am UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999/1 "2020-01-07T07:03:17Z")

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Hi,

Im testing the new G-Code Cap. And everything works fine. But where can I set the M3 Output or is somewhere in a registry Output allready done? I can set an Output before the G-Code knode, that may work for a spindle but for dispensing ist not the best idea I think.

Ronny

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**Author:** ![anon41076874](https://avatars.discourse-cdn.com/v4/letter/a/cab0a1/32.png) [@anon41076874](https://forum.universal-robots.com/u/anon41076874)\
**Post date:** [January 7, 2020, 10:04am UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999/2 "2020-01-07T10:04:24Z")

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M-codes are not currently supported by the Remote TCP & Toolpath URCap. You can find a list of supported G-codes in this article: [Universal Robots - Remote TCP & Toolpath URCap FAQ](https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/remote-tcp-toolpath-urcap-faq-63118/).

If you want to trigger robot IOs while executing a toolpath move, you can add a thread in parallel to do so. You just need to set up some conditions to trigger IOs. This blog post contains an example program tree: [Simplify Robot Programming with G-code - Universal Robots](https://blog.universal-robots.com/simplify-robot-programming-with-g-code). Hope it helps.

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<div class="post-metadata">

**Author:** ![ronny.buch](https://avatars.discourse-cdn.com/v4/letter/r/e480ec/32.png) [@ronny.buch](https://forum.universal-robots.com/u/ronny.buch)\
**Post date:** [January 15, 2020, 5:50am UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999/3 "2020-01-15T05:50:00Z")

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Hi,

thanks for the help. I will try to solve it with a Thread. But I have a part that has multiple spots for dispensing so I have to run and stop in between the gcode path my Dispenser.

Ronny

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<div class="post-metadata">

**Author:** ![anon41076874](https://avatars.discourse-cdn.com/v4/letter/a/cab0a1/32.png) [@anon41076874](https://forum.universal-robots.com/u/anon41076874)\
**Post date:** [January 15, 2020, 4:21pm UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999/4 "2020-01-15T16:21:09Z")

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Having multiple spots for dispensing is challenging. Other than setting up a Thread, another workaround is to break your G-code file into several chunks. I agree supporting M-code will be the most ideal solution.

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<div class="post-metadata">

**Author:** ![ronny.buch](https://avatars.discourse-cdn.com/v4/letter/r/e480ec/32.png) [@ronny.buch](https://forum.universal-robots.com/u/ronny.buch)\
**Post date:** [January 16, 2020, 9:55am UTC](https://forum.universal-robots.com/t/g-code-outputs-for-m3/5999/5 "2020-01-16T09:55:51Z")

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Maybe just for the M3 to set an output and a way to wait for an input too. Like: i’m driven to here, start Dispenser, wait till input is set ON, stop Dispenser, drive further.(and the G04 for waiting a specific amount of time would be nice)

Ronny