set_input_action(alias, action)
Unified I/O. Introduced at SW 10.15 and 5.26. This script is backward compatible with all previous SW and HW versions.
Sets the selected configurable digital input to either a "default" or "freedrive" action.
When the action is configured to "freedrive", the robot arm automatically enters freedrive mode when the pin state transitions from low to high, and returns to position control when the pin transitions from high to low.
See also I/O labels and set_input_actions_to_default().
Parameters
alias: The symbolic name of the pin (string). It can represent a digital input.
action: String. "default" = no automatic action. "freedrive" = the robot arm automatically enters freedrive mode when the pin transitions from low to high during program execution.
Example command: set_input_action("CB_CI2", "freedrive")
- Example Parameters:
- Enter freedrive when activated by control box CI2:
set_input_action("CB_CI2", "freedrive") - Enter freedrive when activated by tool digital input 0 on T0:
set_input_action("T0_CI0", "freedrive")
- Enter freedrive when activated by control box CI2:
Replaces: set_configurable_digital_input_action, set_standard_digital_input_action, set_tool_digital_input_action.