# Control a digital output from code

**URL:** <https://forum.universal-robots.com/t/control-a-digital-output-from-code/2278>\
**Category:** URCap Development\
**Created:** [July 10, 2018, 9:32am UTC](https://forum.universal-robots.com/t/control-a-digital-output-from-code/2278 "2018-07-10T09:32:56Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![anon81989367](https://avatars.discourse-cdn.com/v4/letter/a/dfb087/32.png) [@anon81989367](https://forum.universal-robots.com/u/anon81989367)\
**Post date:** [July 10, 2018, 9:32am UTC](https://forum.universal-robots.com/t/control-a-digital-output-from-code/2278/1 "2018-07-10T09:32:56Z")

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Hi to everyone.  
I’m almost finished my plugin but i can’t use the digital output of the robot.  
I want to control a digital output from a button on the screen, but i don’t know how to do this.  
Can anyone help me ?  
Thanks to all of you!!!

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**Author:** ![anon23279734](https://avatars.discourse-cdn.com/v4/letter/a/7c8e57/32.png) [@anon23279734](https://forum.universal-robots.com/u/anon23279734)\
**Post date:** [July 10, 2018, 9:34am UTC](https://forum.universal-robots.com/t/control-a-digital-output-from-code/2278/2 "2018-07-10T09:34:56Z")

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I recommend you that look this post. I hope it’s useful

> [@URCap Sample: IO Manipulator - Simple gripper URCap](https://forum.universal-robots.com/t/sample-io-manipulator-simple-gripper-urcap/1270):
>
> IO Manipulator Description of functionality: This URCap simulates functionality for operating an open/close type gripper directly from the Tool IO of the robot. User can test open/close of gripper by using buttons in UI, and select whether the program node should grip or release when executed Actual status of the gripper is read from the IO’s in the API domain.io interface. What topics are covered: IO, DigitalIO, AnalogIO, com.ur.urcap.api.domain.io [Find it on Github!](https://github.com/BomMadsen/URCap-ManipulateIO)

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**Author:** ![anon81989367](https://avatars.discourse-cdn.com/v4/letter/a/dfb087/32.png) [@anon81989367](https://forum.universal-robots.com/u/anon81989367)\
**Post date:** [July 10, 2018, 10:17am UTC](https://forum.universal-robots.com/t/control-a-digital-output-from-code/2278/3 "2018-07-10T10:17:16Z")

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I downloaded and implemented this aproach and it works thanks !!!