What should I use in a good sense or not to show negative impact ?
I am not able to do that.
or
I am not capable to do that.
Both options will do fine:
I am not able to do that.
or
I am not capable of doing that.
Notice that able is followed by the preposition to whereas capable is followed by the preposition of.
In first case you don't have the skills or qualities to do that whereas in the second case you don't have the ability, capacity or potential of doing that.
I am not able to do that-It is generally used when you don't have the power, skill, means, or opportunity to do something.
I am not capable to do that-It is generally used when you don't have ability, fitness, or quality necessary to do or achieve a specified thing.