Universal Robots Forum

Feedback of a Gripper via SPS in the Toolbar


I am currently writing a new URCap. The Cap should control a Gripper live via Siemens S7-1500 CPU. Therefore i used the classes Script Command and Script Sender to send the script line “write output boolean register ()”. Now i am searching for a possibility to set any Response wether the Gripper is open or closed. Are there any possibilites to read a boolean register of the SPS via Profinet connection and use the bit to show the gripper state live in the toolbar?
Is it possible to set a visual LED or light up a button?

Thank you.

The current look of my Cap:

If you can use RTDE client in your java code, then GP boolean registers are available there.

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