# How to get payload in Java

**URL:** <https://forum.universal-robots.com/t/how-to-get-payload-in-java/8169>\
**Category:** URCaps SDK\
**Created:** [July 16, 2020, 7:07am UTC](https://forum.universal-robots.com/t/how-to-get-payload-in-java/8169 "2020-07-16T07:07:35Z")\
**Posts on this page:** 1\
**Showing post:** 5

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**Author:** ![anon39333270](https://avatars.discourse-cdn.com/v4/letter/a/958977/32.png) [@anon39333270](https://forum.universal-robots.com/u/anon39333270)\
**Post date:** [September 11, 2020, 8:35am UTC](https://forum.universal-robots.com/t/how-to-get-payload-in-java/8169/5 "2020-09-11T08:35:56Z")

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Sorry for reopen once more this old question, but I think it should actually be implemented directly into the API for URCap development.  
(Payload and Center of Gravity)

> [@Add/change Payload and Center Of Gravity to allow for per-TCP values](https://forum.universal-robots.com/t/add-change-payload-and-center-of-gravity-to-allow-for-per-tcp-values/8510):
>
> Summary Add a way to associate Payload and Center Of Gravity with a TCP in both Polyscope and URCap API. What is it? Per-TCP Payload and Center Of Gravity settings for easier use where flange-mounted items/tools are changed either manually or dynamically (tool changer). Currently this must be done using Set nodes (can only do payload) or URScript. As this would be saved in the TCP settings, Move nodes, and similar, where you can change the TCP, would check if it has an associated Payload-COG …

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