Features
This function sends the signal of the robot tool from the digital contact point.
Depending on the robot model or flange board version, the range of the index parameter may change.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
index |
int |
- |
I/O contact number mounted on the robot arm
(A positive number means ON while a negative number means OFF.) |
|
val |
int |
- |
I/O value: The value to output |
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 |
Error |
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
set_tool_digital_output(1, ON) # Sets the no. 1 contact of the robot arm ON
set_tool_digital_output(6, OFF) # Sets the no. 6 contact of the robot arm OFF
set_tool_digital_output(3 #No. 3 contact ON (A positive number means ON if the argument val is omitted.)
set_tool_digital_output(-3) #No. 3 contact OFF (A negative number means OFF if the argument val is omitted.)