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I believe you are referring to outbound Java connectivity from SAP to a Java object. The answer is yes, and the mechanism is fairly straightforward. You would need to the JCo connector to build a Java RFC server. This RFC server registers itself as a server program with SAP, and allows you to define an RFC destination to it.
Check out my article A Brief Introduction to the JCo Server. You can also find a full sample application in my book Enterprise Java for SAP.
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