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.
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 !