set_tool_digital_output(index, val=None)
Features
This function sends the signal of the robot tool from the digital contact point.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
index | int | - | I/O contact number mounted on the robot arm
(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
PY
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.)