For information on the latest version, please have a look at GL013301.
set_mode_analog_input (Manual Mode)
This section explains how to use set_mode_analog_input during Manual (Teach) operations to configure the signal type (Voltage or Current) of the control box analog input channels.
Typical usage
Define whether each analog input channel operates in voltage mode (0–10 V) or current mode (4–20 mA).
Match the robot’s analog input configuration with external sensors’ signal types.
Prevent incorrect readings due to mismatched input mode.
Note
Setting takes effect immediately; ensure no analog read operation is in progress.
Example: Configure analog input types on control box
#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// 1) Set CH1 as current input (4–20 mA)
drfl.set_mode_analog_input(ANALOG_IN_CH1, GPIO_ANALOG_TYPE_CURRENT);
std::printf("[Analog IN CH1] Mode set to CURRENT\n");
// 2) Set CH2 as voltage input (0–10 V)
drfl.set_mode_analog_input(ANALOG_IN_CH2, GPIO_ANALOG_TYPE_VOLTAGE);
std::printf("[Analog IN CH2] Mode set to VOLTAGE\n");
return 0;
}
Tips
Ensure sensor output and control box mode match exactly (both voltage or both current).
For current mode, verify proper current loop wiring and resistance compliance.
Mode setting is persistent only until power cycle unless saved by higher-level configuration.