Control a digital output from code

[flopez]

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

URCap Sample: IO Manipulator - Simple gripper URCap

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!