Universal Robots+

Assign I/Os to Action


I’m trying to build a URCap that allows the user to assign digital outputs to certain actions, and by calling these actions in the Program nodes, be able to control the corresponding defined digital output.

In the Screwdriving Installation node, a user is able to assign digital outputs to various actions like (‘OK’, ‘Not Ok’, ‘Start’, etc):

In the program, the user is able to choose the actions:

…and the resulting digital output is triggered (for egs, if I assign ‘OK’ to digital_out[1], selecting ‘OK’ in the program node will trigger digital_out[1]).

Is there any sample code that shows how to do this?