Universal Robots Forum

Best method for using digital input to toggle freedrive function through URCap

I want to be able to put the robot in and out of freedrive mode through a URCap via toggling a digital input. Currently I am thinking I will implement a daemon contribution with a flagging method for the input, which sends the freedrive command through the realtime client when the input is on. Is this a decent way to go about this or is there a better way to have it be more reliable? Please advise

Thank you,

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