For information on the latest version, please have a look at GL013301.
get_tool_digital_input (Manual Mode)
This section explains how to use get_tool_digital_input during Manual (Teach) operations to read the ON/OFF state of digital input signals from the tool (flange) connector connected to the robot’s end-effector.
Typical usage
Monitor digital feedback from a gripper, vacuum sensor, or tool presence switch.
Verify tool input wiring and polarity before automatic control.
Check external sensor states in real time while teaching.
Note
Read-only function — use set_tool_digital_output to control output lines.
Example: Read digital inputs from tool port
#include "DRFLEx.h"
#include <cstdio>
#include <thread>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Tool I/O properly connected and powered
// 1) Read tool digital inputs
bool tdi1 = drfl.get_tool_digital_input(TOOL_DI_1);
bool tdi2 = drfl.get_tool_digital_input(TOOL_DI_2);
std::printf("[TOOL_DI_1] = %s\n", tdi1 ? "ON" : "OFF");
std::printf("[TOOL_DI_2] = %s\n", tdi2 ? "ON" : "OFF");
return 0;
}
Tips
Ensure the tool is powered and the digital lines are configured as input.
Check signal polarity (NPN/PNP) and reference voltage (24V/GND).
For dynamic monitoring, poll the function periodically at ~100 ms intervals.
Use this to validate sensor status during manual gripper testing or setup.