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
PY
# 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.