Docs: Update tool comm setup for PolyScope X (#1588)

Author: urfeex

ur_robot_driver/doc/setup_tool_communication.rst

@@ -2,8 +2,8 @@
 
 .. _setup-tool-communication:
 
-Setting up the tool communication on an e-Series robot
-======================================================
+Setting up the tool communication on an e-Series / UR Series robot
+==================================================================
 
 .. note::
    Currently, there seems to be issues with having the tool communication setup from this guide and
@@ -14,7 +14,7 @@ Setting up the tool communication on an e-Series robot
    `this issue <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap/issues/9>`_
    for details and the current state.
 
-The Universal Robots e-Series provides an rs485 based interface at the tool flange that can be used
+From the e-Series on, Universal Robots provide an rs485 based interface at the tool flange that can be used
 to attach an rs485-based device to the robot's tcp without the need to wire a separate cable along
 the robot.
 
@@ -27,9 +27,13 @@ launch files to utilize the robot's tool communication.
 Robot setup
 -----------
 
-For setting up the robot, please install the **rs485-1.0.urcap** found in the **resources** folder.
+For **PolyScope 5**, please install the **rs485-1.0.urcap** found in the **resources** folder.
 Installing a URCap is explained in the :ref:`setup guide <install_urcap>` for the **external-control** URCap.
 
+For **PolyScope X**, you can download the latest tool-comm-forwarder URCapX from its `release
+page <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCapX/releases>`_.
+After installation, please make sure to activate tool forwarding in the URCap's application screen.
+
 After installing the URCap the robot will expose its tool communication device to the network.
 
 Setup the ROS side