# \[IMPLEMENTED\] Tool Center Point Config

**URL:** <https://forum.universal-robots.com/t/implemented-tool-center-point-config/1915>\
**Category:** Product Wishlist\
**Created:** [April 23, 2018, 2:44pm UTC](https://forum.universal-robots.com/t/implemented-tool-center-point-config/1915 "2018-04-23T14:44:48Z")\
**Posts on this page:** 2\
**Page:** 1

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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:** [April 23, 2018, 2:44pm UTC](https://forum.universal-robots.com/t/implemented-tool-center-point-config/1915/1 "2018-04-23T14:44:48Z")

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referring to [Set Tool Center Point to "use active TCP" inside custom URCap Waypoint Node](https://forum.universal-robots.com/t/set-tool-center-point-to-use-active-tcp-inside-custom-urcap-waypoint-node/1914) i would like to request a feature for Tool Center Point Configuration inside Custom URcaps Waypoint Nodes.  
We use UR for gripper and welding applications and would like to provide our customers with an easy-to-program robot. Thus, hiding complicated script logic and simplifying Movement Configuration is a central objective. We want our customers being able to program the robot just by selecting Points over an URCap UI. Doing so, it is necessary to select the Tool Center Point configuration when creating a custom Waypoint Node.

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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:** [December 6, 2018, 8:51am UTC](https://forum.universal-robots.com/t/implemented-tool-center-point-config/1915/2 "2018-12-06T08:51:46Z")

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This feature is now possible since the release of PolyScope 3.8 / 5.2 and SDK 1.5.0.

> [@Release of URCap SDK 1.5.0, PolyScope 5.2 and 3.8](https://forum.universal-robots.com/t/release-of-urcap-sdk-1-5-0-polyscope-5-2-and-3-8/3247):
>
> Universal Robots release URCaps API 1.5.0, PolyScope 5.2 and PolyScope 3.8 Universal Robots are pleased to announce the release of a new URCaps API. The new 1.5.0 API will be supported by two new PolyScope versions 5.2 (e-Series) and 3.8 (CB3). Key features This is a minor release, which include a number of new features, both to the API, the robot, and generally in PolyScope. URCap API: Ability to contribute TCP’s to the Installation URCaps can now contribute their own TCP’s to the TCP C…