[Albert]

Hi David,
It is not complicated to update the robot driver to support Analog Output.
On the robot program, around line 128 you'll see the section where you can manage digital outputs (you took the right code snippet). You can update it to map Output ID 11 to 20 to analog output 1-10. This would translate to the following code:

CASE 10
COM_ACTCNT = COM_ACTCNT + 1
io_id = COM_VALUE1
IF io_id > 10 THEN
;假设这是一个(模拟输出)
io_id = io_id - 10
$ANOUT[io_id] = COM_VALUE2
ELSE
;Default behavior (Digital Output)
IF COM_VALUE2 > 0.5 THEN
$OUT[io_id] = TRUE
ELSE
$OUT[io_id] = FALSE
ENDIF
ENDIF
COM_ACTION = 0