For information on the latest version, please have a look at GL013301.
get_tool_analog_input (Manual Mode)
This section explains how to use get_tool_analog_input during Manual (Teach) operations to read analog input signals from the tool (flange) port connected to the robot’s end-effector.
Typical usage
Measure analog voltage or current values from sensors mounted on the flange (e.g., force, distance, pressure).
Check sensor wiring and output levels during manual setup before automatic operation.
Verify tool feedback for calibration or diagnostic purposes.
Note
The signal range depends on the tool configuration (commonly 0–10 V or 4–20 mA).
Ensure that the corresponding tool I/O configuration is properly set in the controller.
Example: Read analog values from flange input channels
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Tool (flange) analog input device connected
// 1) Read tool analog input CH1 and CH2
float val_ch1 = drfl.get_tool_analog_input(1);
float val_ch2 = drfl.get_tool_analog_input(2);
std::printf("[Tool Analog CH1] = %.3f V\n", val_ch1);
std::printf("[Tool Analog CH2] = %.3f V\n", val_ch2);
return 0;
}
Tips
Confirm that the tool I/O port mode is configured for analog input in the teach pendant.
For noisy signals, apply software filtering or averaging over several reads.
If readings remain zero, check the pin assignment and ensure proper grounding.