Lite 6 - setting tool output TO0 and TO1 on end effector

1

Hi folks,
on a Lite 6 i’m trying to set the Tool outputs TO 0 and TO 1 (pins 5 and 6) on the end effector to drive 2 opto couplers.

From the sample code in the python SDK: 5001-get_tgpio_digital.py and 5003-set_tgpio_digital.py

arm.set_tgpio_digital(0, 1) # set TO 0 to 1
code, digitals = arm.get_tgpio_digital()
arm.set_tgpio_digital(0, 0) # set TO 0 to 0
code, digitals = arm.get_tgpio_digital()

However, arm.get_tgpio_digital()
always returns: (0, [0, 0, 0, 1])
which seems to suggest arm.set_tgpio_digital is not setting TO 0 (same output for TO 1).

Any idea what i’m doing wrong?

Many thanks, Pete.

2

Hi Pete,

get_tgpio_digital is used to get the value of tool digital input, please use get_tgpio_output_digital() to get the value of tool digital output.

Best regards,
Minna

3

Hi Minna, thats working now.
Many thanks!
pete.