I want to be able to change the value to a “standard output” (standard_digital_output) and a “tcp output” (tool_digital_output) on the robot trough the rtde interface.
I’ve no problems to to read values like in- output (binary) and analog signals, but I don’t know how to change values. At the rtde-guide I’ve seen this sentence, but I have no clue how to do this by the python-send-method <*Digital and analog output values have to be sent together with mask, otherwise values will be ignored>
Could someone give me a code examples for changing DO (standard and tcp) and analog… Please!
If I want to set the “tool_digital_output nr1” to be “1”, I would like to do the following (not working):
#–code–>
#-> I guess this is the binary number for the output (in this case there are only 2 outputs 0 and 1)
setp.tool_digital_output = 1
#-> I guess this is the value/status for the output ( 0 or 1 )
setp.tool_digital_output_mask = 1
con.send(setp)
I’ve got an xml-file where I’ve defined the mask and the output as uint8 (key=setp) from the basic example provided by UR (control_loop_configuration.xml)
Can you please post here what you actually did to make this work so that others can learn from you? I would like to learn more about how to make that work as well for some projects that I am working on.
Just in case anyone still searching for answer like me, this is how I use it,
set standard_digital_output_mask to 2^(digital_output_number) to command that particular digital output.
set standard_digital_output to 0 to set it to LOW or 2^(the number same as above) to set it to HIGH.
so for example I want to set digital_output_3 to HIGH I will do
standard_digital_output_mask = 8
standard_digital_output = 8
set digital_output_3 to LOW I will do
standard_digital_output_mask = 8
standard_digital_output = 0
Thank you very much, this problem has been bothering me for several days, today because I saw your answer finally solved!