We have a new manufacturer LINAK in 4.7 eCatalog. Their ELEVATE product is vertical 7th axis for collaborative robots. It has mounting options for UR, Doosan, Techman and Omron cobots. Script will identify the connected model and its mountplate type automatically when you plug it onto the robot positioner. UR20 is supported already even though it is not yet in eCat (we will add it as soon as CAD is available).