You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

set_tool_digital_output_level (Manual Mode)

This section explains how to use set_tool_digital_output_level during Manual (Teach) operations to configure the voltage level of the tool (flange) digital output lines.

Typical usage

  • Select the output power level (e.g., 12 V or 24 V) supplied to the tool connector.

  • Match the voltage level with the connected gripper, valve, or external tool specifications.

  • Prevent damage caused by voltage mismatch during manual operation.

Note

  • Changing this setting affects all tool digital outputs (TOOL_DO_1, TOOL_DO_2) simultaneously.

  • The output level must match the power specification of the connected end-effector.

Example: Set tool output voltage level

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Tool connected to flange port

    // 1) Set tool output voltage to 24 V
    bool ok = drfl.set_tool_digital_output_level(24);
    std::printf("[Tool Output Level] Set to 24V: %s\n", ok ? "OK" : "FAILED");

    return 0;
}

Tips

  • Verify the gripper or sensor voltage rating before applying 24 V output.

  • Power level applies globally to all tool outputs — configure before enabling any signal.

  • If setting fails, ensure the controller firmware and tool interface support output voltage selection.