set_digital_output (Auto Mode)

This section explains how to use set_digital_output during Auto (Run) operations to control the robot controller’s digital output (DO) signals. Digital outputs are commonly used to drive external devices such as grippers, solenoid valves, pneumatic actuators, sensors, and machine interfaces.

This function sets a specific DO channel to either ON (1) or OFF (0).

Typical usage

  • Open/close an electric or pneumatic gripper.

  • Send signals to PLC, conveyors, or external automation equipment.

  • Trigger actuators, clamps, or inspection devices.

  • Implement sequence-based machine interactions in Auto Mode.

Note

  • Output changes should be coordinated with motion steps to ensure safe operation.

  • If using tool I/O, refer instead to set_tool_digital_output.

Example: Activating a Gripper During Auto Mode

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

int main() {
    CDRFLEx drfl;

    // Turn ON digital output channel 1 (e.g., close gripper)
    if (!drfl.set_digital_output(1, TRUE)) {
        printf("Failed to set DO[1].\n");
        return -1;
    }

    // Perform picking motion after activating the output
    float pick[6] = {300.f, 150.f, 200.f, 180.f, 0.f, 0.f};
    drfl.movej(pick, 70.f, 40.f);

    return 0;
}

In this example, a DO signal is activated and the robot executes an Auto Mode pick motion after the output change.

Tips

  • Use DO for gripper control, machine interface, and external triggers.

  • Ensure wiring and I/O mapping match controller assignments.

  • For tool-mounted I/O, use set_tool_digital_output instead of base I/O.

  • Use get_digital_output for debugging or monitoring states.