Hello Crew,On July 30, 2021, Robotiq put online version 1.21.0 of the Copilot URCap (UCS-1.21.0). Please go to support.robotiq.com ➜ Browse by product ➜ Force Copilot ➜ Universal Robots ➜ Software ➜ Force Copilot Software ➜ Download Zip. The novelties, bugfix and improvements implemented are shown below:[NEW] Added support for Depalletizing.[NEW] Added script function to get the linear axis position.[NEW] Added script function to get the number of boxes processed. [BUGFIX] Increased box weight limit to support UR16 payload.[IMPROVEMENTS] Improved the general robustness of the Palletizing application.[IMPROVEMENTS] Linear axis controller software is now updated by the URCap.[IMPROVEMENTS] Robot returns to the picking position when the pallet is complete.[IMPROVEMENTS] A virtual ceiling height can be specified for the Palletizing application. Please note this URCap was tested on:PolyScope 3.15.1PolyScope 5.11.0Please contact the Robotiq Support Team at email@example.com should you have questions or comments. Cheers.