You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

get_modbus_input

This function reads the value of a Modbus I/O register previously configured and registered in the robot controller. It is primarily used to retrieve Modbus digital or analog input data in Manual Mode or during I/O feedback monitoring.

Definition
DRFLEx.h within class CDRFLEx, public section (line 865)

// get modbus register
unsigned short get_modbus_input(string strSymbol)
{
    return _get_modbus_input(_rbtCtrl, strSymbol.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		The name of the Modbus signal registered in the controller. This name must match one defined via add_modbus_signal.

Return

Value	Description
unsigned short	The current value of the Modbus input register. - For digital inputs: 0 (OFF) or 1 (ON) - For analog inputs: The actual register value read from the Modbus device.

Example

// When the Modbus digital inputs are connected and registered as “di1” and “di2”
unsigned short input1 = drfl.get_modbus_input("di1");
unsigned short input2 = drfl.get_modbus_input("di2");

cout << "DI1 state: " << input1 << endl;
cout << "DI2 state: " << input2 << endl;

This example reads the current states of two Modbus input points, di1 and di2, and prints their ON/OFF status to the console. The signals must be registered beforehand using add_modbus_signal.