Universal Robots Forum

How can the URCaps communicate with the UR programs

Hello everyone:
I am studing the URCaps ,recently.But I have a problem.In my URCap,I want to communicate with the UR program.
Example,my URCap get an output signal from the PLC,how can I assign it to the UR program’s variables.
Thank you!

Hi @tonyke

Generally, the URCap contributes script code to the program, which is executed at runtime.
If the program would need to call the URCap, using XML-RPC or socket connections could be an option.
Check out the XML-RPC Math example enclosed in the Samples topic.

I got it !!
Thank you @jbm !