You are reading the documentation for an older Pickit release. Documentation for the latest release (3.2) can be found here.
Setting up Pickit with a Universal Robots
The Pickit integration with Universal Robots (UR) is available for different versions of Pickit and Polyscope. Check here which one is compatible with your setup.
You can learn about the main ideas behind the Pickit-UR integration by watching this video tutorial.
URCap version 2 (recommended)