[PZoumpoulis]

Hi!

I am trying to control an OnRobot VGC10 gripper attached on a UR5e robot through the RoboDK API. Up to now I have been using URCaps (VG Grip and VG Release) to start and stop the suction. 

Is there a specific way to do this directly from the API, or somehow activate the URcaps within my running program?

Thank you in advance for your help and do not hesitate to ask for any clarifications!

[PZoumpoulis]

To give a bit more context:
 
I am preparing a task where my robot will pick items from a conveyor and place them in a bucket.
I have a UR5e equipped with the VGC10 Gripper I mentioned above and have already completed my simulation on RoboDK.
I have successfully connected to the robot but cannot seem to find a way to control the gripper. Under normal circumstances, the gripper is operated via Urscript, URcaps or Modbus commands (I haven't tried that one yet though). I don't see any I/O pins related to the gripper either.