# URCap Sample : Ethernet/IP I/O Monitor URCap (included the feature of RTDE and XML-RPC Server by JAVA) **URL:** \ **Category:** URCap Development\ **Tags:** urcap-sample\ **Created:** [September 9, 2020, 5:29am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724 "2020-09-09T05:29:12Z")\ **Posts on this page:** 13\ **Page:** 1
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [September 9, 2020, 5:29am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/1 "2020-09-09T05:29:12Z")
To all developer. I have developped the urcap for monitoring I/O of Ehternet/IP. I use the features of RTDE, XML-RPC and so on to developping this. I want to make it better in operation. **So would you try to use this and send me your message or reply if you have the suggetions and improvements?** Regards. GitHub > **[GitHub - t-fujiki/com.takaaki.urcap.eipmonitor](https://github.com/t-fujiki/com.takaaki.urcap.eipmonitor)** > > Contribute to t-fujiki/com.takaaki.urcap.eipmonitor development by creating an account on GitHub. ![eip1](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f1c8e167b39ecf7afd932edb31ed07495c3c98dd.png) ![eip2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/19cf912b3792cbb4a8491418e769882273c0ca8c.jpeg) ---
**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:** [September 9, 2020, 5:51pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/2 "2020-09-09T17:51:05Z")
Hi Takaaki, I like this and thought about this too. Is there a Version planned for e-Series or would you mind if i use your code and adapt it on a e-Series Toolbar for all GPIO Registers? I think this would help a lot in Debugging I/Os šŸ‘šŸ»šŸ™‚ ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [September 10, 2020, 12:48am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/3 "2020-09-10T00:48:41Z")
I am so glad that this feature is helpful for you. Itā€™s no problem to fork my repository and edit code. If you adapt it on a e-series toolbar, would you please give me feekback on the edited code? ---
**Author:** ![anon5896500](https://avatars.discourse-cdn.com/v4/letter/a/f04885/32.png) [@anon5896500](https://forum.universal-robots.com/u/anon5896500)\ **Post date:** [September 11, 2020, 2:04pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/4 "2020-09-11T14:04:40Z")
Please make this for the E-Series robot. I love Ethernet/IP for I/O but hate that I canā€™t monitor them. ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [September 15, 2020, 2:44am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/6 "2020-09-15T02:44:38Z")
To all. I didnā€™t introduce the feature that bit of output can be turned on/off. This urcap has the feature below. ![_20200915_114344](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0ba54c6558905ff46c4b5499a45068a396215441.jpeg) ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [September 16, 2020, 7:00am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/7 "2020-09-16T07:00:13Z")
I have verified this urcap running on e-series ursim. But it needs to optimize allignment of swing components a little. And I cannot verify on e-series real-robot because I donā€™t have e-seriesšŸ˜… ![1](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/2/2dd9b8d4805b55100c60135023fd6a17593f960c.png) ---
**Author:** ![anon5896500](https://avatars.discourse-cdn.com/v4/letter/a/f04885/32.png) [@anon5896500](https://forum.universal-robots.com/u/anon5896500)\ **Post date:** [October 13, 2020, 1:34pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/8 "2020-10-13T13:34:47Z")
I have a UR3e sitting 5 feet from me that I can test it on if you would like. ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [October 13, 2020, 1:51pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/9 "2020-10-13T13:51:47Z")
Thank you for your announcement. Would you please do testing for running? ---
**Author:** ![anon5896500](https://avatars.discourse-cdn.com/v4/letter/a/f04885/32.png) [@anon5896500](https://forum.universal-robots.com/u/anon5896500)\ **Post date:** [October 20, 2020, 2:25pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/10 "2020-10-20T14:25:19Z")
My apologies for not responding sooner. I looked at the Github page and didnā€™tā€™ see a Urcap file. Did I not look in the right location or do I need to compile it myself? ![image001.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/520c54f3fdd424dc10ba60d0db6d648d0cd09127.png) ![image002.png](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f07e1111a9d3d483823dee44b92d73c8360c1e99.png) ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [October 21, 2020, 8:40am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/11 "2020-10-21T08:40:53Z")
Hi, I uploaded the compiled urcap here. Please download and try deploying this. [eipmonitor-1.0.zip](https://forum.universal-robots.com/uploads/short-url/cX4xV7ruTH8rkz8WrsRRco7gFoj.zip) (289.0 KB) ---
**Author:** ![abelch](https://avatars.discourse-cdn.com/v4/letter/a/b4bc9f/32.png) [@abelch](https://forum.universal-robots.com/u/abelch)\ **Post date:** [December 9, 2020, 2:57pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/12 "2020-12-09T14:57:36Z")
@fujikit this _ **is** _ working on our UR10e with V5.6 installed. Have you been able to add an more functionality? I just used the compiled URCAP you linked above. I think the biggest thing that would be helpful is to have access from the Swing Toolbar so you donā€™t have to go to the insulation tab to view the status. Thanks for the good work so far! ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [October 8, 2021, 1:21pm UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/13 "2021-10-08T13:21:07Z")
I have been considering this feature adding into toolbar. But I hope _ **that this is implemented as default feature of Polyscope!!** _ ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [April 7, 2022, 6:30am UTC](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724/14 "2022-04-07T06:30:16Z")
To all, I have implemented this monitor into the toolbar on e-series. Please show the link below. [URCap Sample: Ethernet/IP monitor can be launched from toolbar - URCap Development - Universal Robots Forum (universal-robots.com)](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-monitor-can-be-launched-from-toolbar/20385)