Universal Robots Forum

How to get values like Joints values,DigitalIO Values from URCaps Api

Hello, I have to built URCaps that gives me values of Joint Values, DigitalIO Values, Robot state and manipulate all of them without using any ports like RTDE, Real Time. I saw all the examples given by URStarter Packages but i can’t understand how they do. So,Kindly explain me about that.