For information on the latest version, please have a look at GL013301.
set_tool_digital_output (Manual Mode)
This section explains how to use set_tool_digital_output during Manual (Teach) operations. This function controls the digital output pins located on the robot’s tool flange (I/O interface). It is typically used to toggle external devices such as grippers, vision triggers, or sensors directly from the robot’s end-effector during teaching or testing.
Typical usage
Manually open or close a gripper connected to the tool I/O port.
Send a trigger pulse to a camera, welding torch, or dispenser module during manual alignment.
Control peripheral actuators while verifying system wiring and timing.
Test end-effector responses during manual commissioning or calibration.
Note
Tool I/O voltage level depends on hardware configuration (typically 24 V DC).
Example: Toggle gripper output pin from Teach Pendant
#include "DRFLEx.h"
#include <iostream>
#include <thread>
#include <chrono>
using namespace std;
using namespace DRAFramework;
int main()
{
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Gripper or end-effector connected to tool I/O
cout << "[Tool I/O] Opening gripper...\n";
drfl.set_tool_digital_output(GPIO_TOOL_DIGITAL_1, true); // Gripper open signal
this_thread::sleep_for(chrono::seconds(2));
cout << "[Tool I/O] Closing gripper...\n";
drfl.set_tool_digital_output(GPIO_TOOL_DIGITAL_1, false); // Gripper close signal
this_thread::sleep_for(chrono::seconds(1));
cout << "[Tool I/O] Gripper output test completed.\n";
return 0;
}
Tips
Useful for end-effector testing and verifying signal polarity during commissioning.
Combine with get_tool_digital_output to confirm output state after command.
Use short pulse intervals for camera or sensor triggers (e.g., 100–200 ms).
Always verify wiring and I/O protection before energizing tool outputs in real hardware setups.