# URCap Installation Node

**URL:** <https://forum.universal-robots.com/t/urcap-installation-node/4427>\
**Category:** URCaps SDK\
**Created:** [June 3, 2019, 8:45am UTC](https://forum.universal-robots.com/t/urcap-installation-node/4427 "2019-06-03T08:45:53Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon23562900](https://avatars.discourse-cdn.com/v4/letter/a/77aa72/32.png) [@anon23562900](https://forum.universal-robots.com/u/anon23562900)\
**Post date:** [June 3, 2019, 8:45am UTC](https://forum.universal-robots.com/t/urcap-installation-node/4427/1 "2019-06-03T08:45:53Z")

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Hy guys,

I’m stucked a little with developing URCap. I want to develop an URCap, that can run parallell to the robot program. So when i start the Daemon server, i need to manipulate the physical outputs of the robot. When i start both the Daemon and the Robot Program, i can manipulate the outputs correctly as i wanted. But is it possible to manipulate them, when i haven’t started the program, in the installations view?! Without running the program? Can i use the “generateScript” command and the “ScriptWriter” for this reason, or am i need to check something other way?

An other question occoured during the programming. Is a physical UR Robot able to run RTDE on itself with ‘localhost’ assignment, or i MUST need an other device to establish the connection? Can i run an workable RTDE server on itself? Or is it something IP Config for this reason? I already tryed it with the ‘localhost’ hostname, and the robot dropped me out with an error, but in the robot of the Virtual Machine (VMware) it worked correctly.

I am kinda new to this kind of developing, so sorry if i asked something wrong.  
Thanks for your help!