Is there a way to remotely change IO while the robot is running?

Technical Questions Robot Communication
1

hi.
I’m trying to change the robot’s control box IO in a C# program.
This should be possible even while the robot is running.

I tried using the urscript execution function of the client interface.
ex) set_digital_out(1,True)

This changed the IO, but the robot stopped.

Are there any other functions that can change IO while the robot is running?

2

You can set the URScript command to run as Secondary instead of primary, which will prevent the program execution from stopping. I haven’t worked in C#, I’ve only done CAP development via Java, but there is an API provided by UR for accessing the digital/configurable outputs from there.