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.