For information on the latest version, please have a look at GL013301.
set_digital_output_ex (Manual Mode)
This section explains how to use set_digital_output_ex during Manual (Teach) operations to control both control box and flange digital outputs when using API version DRCF_VERSION == 3.
Compared to set_digital_output(Manual mode), this extended version supports flange-level output control, allowing direct operation of grippers, sensors, and other end-effector devices without external wiring.
Typical usage
Directly control tool I/O outputs from the robot flange during manual tests.
Operate grippers, vacuum valves, or solenoids for end-effector actuation.
Test both control box outputs and flange outputs in one API version.
Example: Control control box and flange outputs
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - DRCF_VERSION == 3
// - Flange and control box outputs available
// 1) Turn ON control box output DOUT_1
drfl.set_digital_output_ex(DOUT_1, true);
std::printf("[CtrlBox DOUT_1] = ON\n");
// 2) Turn ON flange output FLANGE_DOUT_1
drfl.set_digital_output_ex(FLANGE_DOUT_1, true);
std::printf("[Flange DOUT_1] = ON\n");
std::this_thread::sleep_for(std::chrono::seconds(1));
// 3) Turn OFF both outputs
drfl.set_digital_output_ex(DOUT_1, false);
drfl.set_digital_output_ex(FLANGE_DOUT_1, false);
std::printf("[Outputs] = OFF\n");
return 0;
}
Tips
Flange outputs are ideal for end-effector power or control lines.
Verify flange output wiring and tool connector pin assignments before testing.
If the output signal does not toggle, ensure tool power supply is active.