In the current setup at our research Institute, we have a UR10e robot that has a Robotiq gripper connected to it. The URCap for the gripper is installed on the robot controller. The robot is connected to PLC via Profinet. I am looking forward to read the status of robotiq gripper in PLC. I went through the documentation at https://assets.robotiq.com/website-assets….%20Control.htm , there is the information for gripper control via URCap file. But, I am not understanding the information about how to read the signal (from gripper) in controller memory. Should I write the status (like rq_current_pos("gripper ID")), to an int register within the program, so that the gripper data is shared. Or is there any direct way to read the data in PLC?
Thank you.
