Set Digital out about URCap

URCap Development
1

Hello

i need your help. I would like to write a URCap. In this URCap i have the problem i musst set a Digitalout when i click a Button.
My Question is how can i set a Digital out to true?

I have test it with the scriptcommunicator, but when the Robot is in Power off the Script doesn’t run.
Is there a other option to do this, maybe about the RTDE to write a outputstream?

For example I read about the Robot Real Time Reader the Robot mode.

Is there an example?

Thanks for your help

2

It is possible by using realtime client.

This example is for gp output.

3

Thank you i will test it and reporting back.

4

Hello

I have test this but the same problem, i can send the command but only when the robot is power on.

I musst set a digital out when the robot is in mode Power off.

can you help me?

Thanks in advance

5

I think that it doesn’t have to be possible to turn outputs under powering off for security.

6

I am in the process of testing / verifying this method, and so far it seems to work as desired.

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7

Hello

thank you for your fast replay.

But I have a question, where you get the IOHandler?
I don’t find this class!
Bild

Thanks a lot.

8

My bad I forgot to add the class.

It’s under the manipulateIO example.

9

Thanks
I will test it and inform you back.

10

I don’t find this in my SDK. Can you help me?

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11

I have found it to download. :slight_smile:

12

Is is running.
Thank you very much.

1 Like
13

awesome, glad to help!