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

// 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);
printf("[Tool Output Level] Set to 24V: %s\n", ok ? "OK" : "FAILED");

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.