Read and Write values to Robot OPC server in Manual mode

I use the ABB OPC server to read and write values to the robot controller.

I cannot read or write values when the robot is in manual mode, this makes it hard to test  robot programs in manual mode since I have to write values of some parameter variables to robot using OPC.

Is there they a way to make it possible to write values to the Robot's OPC server when the Robot is in manual model?