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.