Universal Robots Forum

URCap Functions in RT Interface


I’m using a UR10 CB3 with a Polyscopeversion 3.11.

A URCap is installed, which provides functions to controll a linear axis.
Such as:

  • get_linearaxis_position()
  • move_position()

When I create a standard UR-Program which calls this functions via a URScrip line, it works perfectly fine.

But I want to use this function in the Real-Time Interface.

I download a program at the RT Interface which includes this functions and nothing happens.
If I comment these functions out, the programm is executing fine.

So, who can I access functions defined by an URCap in the RT Interface?