C、C++:

End-Effector Tool IO configuration effectorIOConfig

The robotic arm provides multiple IO ports — which share both input and output functionalities — at the end effector for interaction with external devices. This interface is used to configure the mode of the end effector IO, as well as to set and read power output settings. End-Effector Tool IO The quantity and classification of the end effector IO ports are as follows:

Type	Quantity	Description
Power output	One channel	0 V/12 V/24 V available.
Digital IO	Two channels	Input or output available Input: reference voltage: 12 V-24 V; output: 12 V-24 V, matching the input voltage.
Communication port	One channel	RS485 available.

Set tool-end digital IO outputrm_set_tool_DO_state()

• Method prototype:

int rm_set_tool_DO_state(rm_robot_handle * handle,int io_num,int state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port number, range: 1-2.
state	Input	IO state, 1: high output, 0: low output.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

//Set tool-end channel 1 output to high level
int num = 1;
int state = 1;
ret = rm_set_tool_DO_state(robot_handle,num,state);

Set tool-end digital IO moderm_set_tool_IO_mode()

• Method prototype:

int rm_set_tool_IO_mode(rm_robot_handle * handle,int io_num,int io_mode)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
io_num	Input	IO port number, range: 1-2.
io_mode	Input	Mode, 0: input state, 1: output state.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

//Set the tool-end digital channel IO2 to output mode
int num = 2;
int state = 1;
ret = rm_set_tool_IO_mode(robot_handle,num,state);

Get the digital IO staterm_get_tool_IO_state()

• Method prototype:

int rm_get_tool_IO_state(rm_robot_handle * handle,int * mode,int * state)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
mode	Output	0: input mode, 1: output mode.
state	Output	0: low, 1: high.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

//Query the tool-end digital IO state        
float IO_Mode[2];                               
float IO_state[2];                              
ret = rm_get_tool_IO_state(robot_handle, IO_Mode, IO_state)

Set the tool-end power outputrm_set_tool_voltage()

• Method prototype:

iint rm_set_tool_voltage(rm_robot_handle * handle,int voltage_type)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage_type	Output	Power output type, 0: 0 V, 2: 12 V, 3: 24 V.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

// Set the tool-end power output type to 12 V
int type = 2;
ret = rm_set_tool_voltage(robot_handle, type);

Get the tool-end power outputrm_get_tool_voltage()

• Method prototype:

iint rm_get_tool_voltage(rm_robot_handle * handle,int voltage_type)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
voltage_type	Output	Store the power output type, 0: 0 V, 2: 12 V, 3: 24 V.

• Return value:

Parameter	Type	Description
0	int	Success.
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.

• Usage demo

//Get the tool-end power output
int voltage;
ret = rm_get_tool_voltage(robot_handle,&voltage);