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set_output()

Definition

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 Channel for the Analog output)

  • when the port_type is DR_CONTROLLER_DIGITAL

    • Val argument existing: A number between 1 and 16

    • No val argument: 1 ~ 16 , -1 ~ -16(A positive number means ON while a negative number means OFF.)

  • when the port_type is DR_FLANGE_DIGITAL

    • when the model of robot is M/H with old flange

      • Val argument existing: A number between 1 and 6

      • No val argument: 1 ~ 6 , -1 ~ -6(A positive number means ON while a negative number means OFF.)

    • when the model of robot is A

      • Val argument existing: A number between 1 and 2

      • No 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 flange

      • Val argument existing: A number between 1 and 4

      • No val argument: 1 ~ 4, -1 ~ -4(A positive number means ON while a negative number means OFF.)

  • when the port_type is DR_CONTROLLER_ANALOG

    • 1 ~ 2(channel)

val

float

None

I/O value

  • when the port_type is 0 or 1(digital)

    • ON : 1

    • OFF : 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)