set_tool_digital_outputs(bit_list)
Features
This function sends the signal of the robot tool from the digital contact point. The digital signals of the contact points defined in bit_list are output at one.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
bit_list |
list (int) |
- |
List of multiple output contacts
|
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_outputs(bit_list=[1,2,3,4,5,6]) # Sets the contacts 1-6 ON
set_tool_digital_outputs([-1,-2,-3,-4,-5,-6]) # Sets the contacts 1-6 OFF
set_digital_outputs([1,-2,3]) # Contact no. 1 ON, no. 2 OFF, and no. 3 ON
Keyword
set / tool / digital / outputs / set_tool / digital_outputs / tool_digital_outputs
set_tool_digital_outputs(bit_start, bit_end, val)
Features
This function sends the signal of the robot tool from the digital contact point. The multiple signals from the first contact point (bit_start) to the last contact point (bit_end) are output at one.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
bit_start |
int |
- |
Beginning contact number for output signal (1~6) |
|
bit_end |
int |
- |
Ending contact number for output signal (1~6) |
|
val |
int |
- |
Output value |
Note
-
Bit_end must be a larger number than bit_start.
-
Val is the value of the combination of bits where bit_start =LSB and bit_end=MSB.
Ex) bit_start =1, bit_end=4, val=0b1010 # No. 4=ON, no. 3=OFF, no. 2=ON, and no. 1=OFF
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
# Outputs contact 1=ON, contact 2=ON, contact 3=OFF, and contact 4=OFF.
set_tool_digital_outputs(bit_start=1, bit_end=4, val=0b0011) # 0b means a binary number.
# Outputs contact 3=ON and contact 4=OFF.
set_tool_digital_outputs(bit_start=3, bit_end=4, val=0b01) # 0b means a binary number.
# Outputs the ON signal from contacts 1 through 8.
set_tool_digital_outputs(1, 8, 0xff) # 0x means a hexadecimal number.
Keyword
set / tool / digital / outputs / set_tool / digital_outputs / tool_digital_outputs