For information on the latest version, please have a look at GL013301.
get_tool_digital_output (Manual Mode)
This section explains how to use get_tool_digital_output during Manual (Teach) operations to check the current ON/OFF state of digital output signals from the tool (flange) connector.
Typical usage
Verify if output commands sent to the tool port are correctly activated.
Check gripper control signals or vacuum valve status during manual debugging.
Monitor tool output states before and after using set_tool_digital_output.
Note
Used mainly for status verification after manual or DRL-driven output operations.
Example: Read digital outputs 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 outputs configured and powered
// 1) Check tool output states
bool tdo1 = drfl.get_tool_digital_output(TOOL_DO_1);
bool tdo2 = drfl.get_tool_digital_output(TOOL_DO_2);
std::printf("[TOOL_DO_1] = %s\n", tdo1 ? "ON" : "OFF");
std::printf("[TOOL_DO_2] = %s\n", tdo2 ? "ON" : "OFF");
return 0;
}
Tips
Confirm that the tool I/O configuration is set to output mode.
If outputs remain OFF, ensure external 24V supply and signal mapping are correct.
Use in combination with set_tool_digital_output to toggle and verify signals.
Suitable for manual gripper open/close or vacuum valve activation tests.