set_tool_communication(enabled, baud_rate, parity, stop_bits,

This function will activate or deactivate the ’Tool Communication Interface’ (TCI). The TCI will enable communication with a external tool via the robots analog inputs hereby avoiding external wiring.

>>> set_tool_communication(True, 115200, 1, 2, 1.0, 3.5)

Parameters

enabled: Boolean to enable or disable the TCI (string). Valid values: True (enable), False (disable)

baud_rate: The used baud rate (int). Valid values: 9600, 19200, 38400, 57600, 115200, 1000000, 2000000, 5000000.

parity: The used parity (int). Valid values: 0 (none), 1 (odd), 2 (even).

stop_bits: The number of stop bits (int). Valid values: 1, 2.

rx_idle_chars: Amount of chars the RX unit in the tool should wait before marking a message as over / sending it to the PC (float). Valid values: min=1.0 max=40.0.

tx_idle_chars: Amount of chars the TX unit in the tool should wait before starting a new transmission since last activity on bus (float). Valid values: min=0.0 max=40.0.

Return Value

None

Note:

Enabling this feature will disable the robot tool analog inputs.

Example command:

set_tool_communication(True, 115200, 1, 2, 1.0, 3.5)

• Example Parameters:

  • enabled = True

  • baud rate = 115200

  • parity = ODD

  • stop bits = 2

  • rx idle time = 1.0

  • tx idle time = 3.5