Universal Robots Forum

Override an existing instruction

Hello everyone,

I am fairly new to developing URCaps and I want to know if it is possible to override an existing instruction (e.g. Waypoint) and integrate my custom functions and new UI components?

Hi,

It is not possible to overrite existing polyscope program nodes, but a URCap can contribute multiple program nodes in the activator which can code to perform a wide variety of functions, including closely mimicing existing nodes.

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Thank you for the reply,

If I understand correctly you can’t override an existing polyscope program node, but you can create a new instruction who mimics the one you want to override.
Then I suppose there are integrated functions that can move the robot in position like a MoveJ.

Thats correct, each program node has a generateScript() method, which will output any URScript you wish. A waypoint node underneath a move are the inbuild nodes responsible for robot motion.