Features
This function sends the signal of the robot tool from the digital contact point. After sending out the specified signal for the set time, the next signal is sent out.
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
|
|
time |
float |
- |
Time(0.01 ~ 3,000,000) |
|
val2 |
int |
- |
I/O value
|
If val is omitted, the positive number becomes ON and the negative number OFF according to the sign of the argument 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, 2.0, OFF) # Sets the no. 1 contact of the robot arm ON, OFF after 2 seconds
set_tool_digital_output(5, OFF, 0.5, ON) # Sets the no. 5 contact of the robot arm OFF, ON after 0.5 seconds