If you have VC Premium you can use the RTDE Plugin to communicate with UR Robot. To get info about that check this Academy video: https://academy.visualcomponents.com/lessons/simulate-universal-robots-with-rtde-connection/
and also section “Universal Robots RTDE Plugin” in the application’s help:
If you don’t have Premium then you could try to use python scripts and python socket to communicate with the controller. There are few posts on this forum about sockets. For example on this one I posted few example models where two robots are communicating with UDP and TCP/IP sockets within the layout: How to read values from external python script
-k