Universal Robots Forum

Get the time in script code and control robot joint positions from URCap

I’m developing a urcap for external axes. First I was trying to control robot in java in urcap project by sending single line servoj sicript command but it is so slow. Now i’m trying to send script code block from java to robot. In this way i have to get the time up to that moment in a while loop in script code. Can i get the time? Is there any way to control robot joint positions from urcap at high frequency ?