Custom URCap waypoint nodes can support Tool Center Point (TCP) configuration when deployed with URCaps API 1.5.0 and a compatible PolyScope release. This enables a URCap to present point selection through its own UI while keeping movement configuration and script logic hidden from the operator.
Version Requirements
The TCP contribution capability was introduced with URCaps API 1.5.0. Match the robot generation to the supported PolyScope release before designing or deploying the custom waypoint node.
| Robot platform | Required PolyScope release | URCaps API |
|---|---|---|
| e-Series | 5.2 | 1.5.0 |
| CB3 | 3.8 | 1.5.0 |
TCP Configuration Architecture
The available API allows a URCap to contribute its own TCPs to the Installation. A custom waypoint workflow can then expose TCP-aware point programming through the URCap UI, including the intended use of the active TCP, without requiring the operator to manage the underlying script logic directly.
The evidence confirms TCP contribution support but does not identify a specific class, method, or configuration sequence. Select the implementation interfaces from the URCaps API 1.5.0 documentation rather than assuming an identifier from a later SDK.
Implementation and Verification
- Confirm that the target robot runs PolyScope 5.2 on e-Series or PolyScope 3.8 on CB3.
- Build the URCap against URCaps API 1.5.0 and use its TCP contribution capability to make the application TCP available in the Installation.
- Connect the custom waypoint UI to the intended TCP selection behavior and preserve that selection when the waypoint node is created or edited.
- Verify on the target robot that the contributed TCP appears in the Installation and that the custom waypoint uses the selected or active TCP during movement configuration.
If the TCP option is unavailable, check the PolyScope generation and version first, then confirm that the URCap was built against API 1.5.0 or later. Do not treat UI point selection alone as proof: verify both the Installation TCP entry and the resulting waypoint behavior.
FAQ
Which PolyScope version supports TCP configuration in URCaps?
Use PolyScope 5.2 for e-Series or PolyScope 3.8 for CB3 with URCaps API 1.5.0.
Can a URCap add its own TCP to the robot Installation?
Yes. URCaps API 1.5.0 introduced the ability for URCaps to contribute TCPs to the Installation.
How do I verify a custom URCap waypoint uses the correct TCP?
Confirm that the contributed TCP appears in the Installation, create or edit the waypoint through the URCap UI, and verify that movement configuration uses the selected or active TCP.
