You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

set_digital_output (Manual Mode)

This section explains how to use set_digital_output during Manual (Teach) operations to manually turn ON or OFF digital output channels on the control box when using API version DRCF_VERSION == 2.

Typical usage

  • Control external devices such as grippers, relays, valves, or indicators.

  • Verify output signal wiring and polarity during installation.

  • Perform manual I/O testing before enabling Auto (Program) mode.

Note

Example: Control digital outputs on control box

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - External devices connected to control box output terminals

// 1) Turn ON DOUT_1 for 1 second
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);
printf("[DOUT_1] = ON\n");
std::this_thread::sleep_for(std::chrono::seconds(1));

// 2) Turn OFF DOUT_1
drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, false);
printf("[DOUT_1] = OFF\n");

Tips

  • Verify output mode (Sink/Source) matches the external device type (NPN/PNP).

  • If output doesn’t change, check the external 24V supply and safety interlock state.

  • Combine with get_digital_output to confirm output states.