For information on the latest version, please have a look at GL013301.
get_digital_input (Manual Mode)
This section explains how to use get_digital_input during Manual (Teach) operations to read the ON/OFF state of digital input signals from the robot’s control box I/O ports when using API version DRCF_VERSION == 2.
Typical usage
Check the current sensor or switch state wired to the control box.
Verify safety interlocks, photo sensors, or external start signals during manual setup.
Confirm correct wiring polarity and I/O assignment before automation.
Note
For DRCF v3 and later, use get_digital_input_ex(Manual Mode).
Example: Read multiple digital inputs
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Digital sensors connected to control box input pins
// 1) Read digital input #1 and #2
bool din1 = drfl.get_digital_input(DIN_1);
bool din2 = drfl.get_digital_input(DIN_2);
std::printf("[DIN_1] = %s\n", din1 ? "ON" : "OFF");
std::printf("[DIN_2] = %s\n", din2 ? "ON" : "OFF");
return 0;
}
Tips
Ensure the control box digital inputs are properly powered and configured as inputs.
For NPN/PNP type mismatches, verify the wiring reference (GND or +24V).
If values do not change, check I/O mapping or safety interlock configuration.