Direct addressing Fieldbus Registers with URCap

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Hello all,

I need to address some fieldbus boolean registers. They were on a modbus module before and they were pretty easy accessable, but we changed the system and now the robot has to communicate over fieldbus.

As far as i understand there are no getValue() and setValue() Methods available for the boolean, integer and float registers. Through UR Script these values can also be written and read directly. Did i miss something?

Is there a special reason for them beeing not available by Java?
May you can create a feature request, because it would simple up things a lot.

Thanks alot for your support.
Regards,
Andreas

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2

I have the same problem

3

You need to implement RTDE client in java to read or write these registers.
Both output, and input registers are always available to be read, but only one client can reserve input register for write access.