set_output(port_type, index, val=None, time=None, val2=None)

Features

This function sends a signal at the digital / analog contact point of the controller / flange.

Caution

Depending on the current flange board version and robot model, the parameters may change. Please familiarize yourself with the manual.

Parameters

Parameter Name	Data Type	Default Value	Description
port_type	int	-	type of contact point DR_CONTROLLER_DIGITAL : 0 DR_FLANGE_DIGITAL : 1 DR_CONTROLLER_ANALOG : 2
index	int	-	I/O contact number mounted on the controller(It also serves as a Chnnel for the Analog output) when the port_type is DR_CONTROLLER_DIGITALVal argument existing: A number between 1 and 16No val argument: 1 ~ 16 , -1 ~ -16(A positive number means ON while a negative number means OFF.) when the port_type is DR_FLANGE_DIGITALwhen the model of robot is M/H with old flangeVal argument existing: A number between 1 and 6No val argument: 1 ~ 6 , -1 ~ -6(A positive number means ON while a negative number means OFF.)when the model of robot is AVal argument existing: A number between 1 and 2No val argument: 1 ~ 2 , -1 ~ -2(A positive number means ON while a negative number means OFF.)when the model of robot is M/H with new flangeVal argument existing: A number between 1 and 4No val argument: 1 ~ 4, -1 ~ -4(A positive number means ON while a negative number means OFF.) when the port_type is DR_CONTROLLER_ANALOG1 ~ 2(channel)
val	float	None	I/O value when the port_type is 0 or 1(digital)ON : 1OFF : 0 when the port_type is 2(analog)current mode : 4.00 ~ 20.00(mA)voltage mode : 0.00 ~ 10.00(V)
time	float	None	Time information (available only if the port_type is 0, 1) 0.01 ~ 3,000,000(sec)
val2	int	None	I/O value ON : 1 OFF : 0

Note

If val is omitted, positive numbers become ON and negative numbers become OFF depending on the sign (+/-) of the index.

Return

Value	Description
0	Success
Negative value	Failed

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred
DR_Error (DR_ERROR_VALUE)	Parameter value is invalid
DR_Error (DR_ERROR_RUNTIME)	C extension module error occurred
DR_Error (DR_ERROR_STOP)	Program terminated forcefully

Example

Python

set_output(1, -1) ## set_tool_digital_output(-1)
set_output(0, 2, OFF, 3, ON) ## set_digital_output(2, OFF, 3, ON)
set_mode_analog_output(ch=2, mod=DR_ANALOG_VOLTAGE) #out ch1=voltage mode
set_output(2, 1, 10.0) ## set_analog_output(2, 10)