Using this method assigns the output to one of the states. This will set the output value depending on the state.

Parameters

outputId: The output signal number (id), integer: [0:127]

state:

0: Preserve signal state,

1: Set signal to False when program is not running,

2: Set signal to True when program is not running,

3: Set signal to True when program is running and False when it is stopped,

4: Set signal to False when program terminates unscheduled,

5: Set signal to True from the moment a program is started and False when a program terminates unscheduled,

6: Set signal to True when the robot has drive power,

7: Set signal to False when the robot has drive power.

Notes:

• The lower range of the boolean output registers [0:63] is reserved for FieldBus/PLC interface usage. The upper range [64:127] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients.

• An unscheduled program termination is caused when a Protective stop, Fault, Violation or Runtime exception occurs.

Example command:

set_runstate_gp_boolean_output_to_value(64, 2)

• Example Parameters:

  • outputid = output on port 64

  • Runstate choice = 2 ! sets signal on port 64 to True when program is not running