# \#installation-node
**URL:** https://forum.universal-robots.com/tag/installation-node/119.md
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## [Callback to URcap when program execution stops](https://forum.universal-robots.com/t/callback-to-urcap-when-program-execution-stops/6719)
**Author:** [@jorge](https://forum.universal-robots.com/u/jorge)\
**Replies:** 3\
**Last updated:** [March 20, 2020, 5:07am UTC](https://forum.universal-robots.com/t/callback-to-urcap-when-program-execution-stops/6719 "2020-03-20T05:07:39Z")
Hi, Is there a way to get a callback to an installation node when the program execution stops. I guess it would be possible to read RTDE data but I would prefer to simply implement some sort of async method like the ha…
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## [How to get current robot pose? (InstallationNode)](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290)
**Author:** [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\
**Replies:** 14\
**Last updated:** [January 3, 2020, 9:35am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290 "2020-01-03T09:35:21Z")
hi, how to get current robot pose? (InstallationNode) Thank you
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## [Number of Installation nodes allowed](https://forum.universal-robots.com/t/number-of-installation-nodes-allowed/5784)
**Author:** [@anon44602625](https://forum.universal-robots.com/u/anon44602625)\
**Replies:** 2\
**Last updated:** [December 10, 2019, 9:54am UTC](https://forum.universal-robots.com/t/number-of-installation-nodes-allowed/5784 "2019-12-10T09:54:37Z")
Hi I am going to create a new URcap, duing the tutorial I understand that we should do only 1 installation node, but I have seen that some Urcaps use more than One installation node. I will like to know if I can create …