CDRFLEx.write_data_rt
Features
This function writes the real-time input data. (external controller → robot controller) It is for the purpose of receiving sensors, DIO, AIO, and other commands connected to an external controller, and although there is no current use, it will be utilized through collaboration with external corporations.
Parameter
Parameter Name | Data Type | Default Value | Description |
fExternalForceTorque | float[6] | - | External Force Torque |
iExternalDI | unsigned short | - | External Digital Input |
iExternalDO | unsigned short | - | External Digital Output |
fExternalAnalogInput | float[6] | - | External Analog Input(6 channel) |
fExternalAnalogOutput | float[6] | - | external analog output(6 channel) |
Return
Value | Description |
0 | Error |
1 | Success |
Example
CPP
fExternalForceTorque[6] = {100, 100, 100, 100, 100, 100};
int iExternalDI = 1;
int iExternalDO = 2;
float fExternalAnalogInput[6] = {100, 100, 100, 100, 100, 100};
float fExternalAnalogOutput[6] = {0, 0, 0, 0, 0, 0};
Drfl.write_data_rt(fExternalForceTorque, iExternalDI, iExternalDO, fExternalAnalogInput, fExternalAnalogOutput);