set_analog_output (Manual Mode)

This section explains how to use set_analog_output during Manual (Teach) operations to output analog voltage or current signals from the robot’s control box analog output ports for testing or calibration of connected devices.

Typical usage

• Send analog control signals (e.g., 0–10 V or 4–20 mA) to external devices such as inverters, valves, or amplifiers.

• Test analog wiring and output scaling during system setup.

• Manually tune device parameters (e.g., motor speed, torque reference) without running Auto programs.

Note

• The output range (e.g., 0–10 V or 4–20 mA) depends on the robot’s control box settings.

Example: Set analog output to control an inverter or analog actuator

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Analog output configured and connected to an external device

    // 1) Set analog output channel 1 to 5.0 V
    bool ok1 = drfl.set_analog_output(ANALOG_OUT_CH1, 5.0f);
    std::printf("[Analog OUT CH1] Set to %.2f V : %s\n", 5.0f, ok1 ? "OK" : "FAILED");

    // 2) Set analog output channel 2 to 7.5 V
    bool ok2 = drfl.set_analog_output(ANALOG_OUT_CH2, 7.5f);
    std::printf("[Analog OUT CH2] Set to %.2f V : %s\n", 7.5f, ok2 ? "OK" : "FAILED");

    return 0;
}

Tips

• Ensure the output mode (Voltage/Current) matches the external device specification.

• Gradually increase the output to avoid sudden surges in external actuators.

• If the output does not change, check control box analog configuration and wiring.

• Use get_analog_input to verify the signal via loopback testing.