set_tool_digital_output()

set_tool_digital_output(index, val=None)

Features

This function sends the signal of the robot tool from the digital contact point.

Caution

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

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.)

val

int

I/O value: The value to output

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	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

Python

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.)