get_digital_input (Auto Mode)

This section explains how to use get_digital_input during Auto (Run) operations to read the state of a digital input (DI) channel connected to sensors or external equipment.

Digital inputs are used to receive binary signals such as part-detection sensors, button inputs, machine-ready signals, or safety interlocks.

Typical usage

• Wait for a sensor to detect a part before grasping.

• Synchronize robot actions with external machine signals.

• Implement interlock-based sequence logic.

• Monitor jig/fixture status during automated runs.

Note

• DI signals often require debounce logic depending on the sensor type.

• For tool-mounted DI, use get_tool_digital_input.

Example: Waiting for a Part-Detected Sensor

#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Wait for DI[0] to become TRUE (part present)
    while (!drfl.get_digital_input(0)) {
        printf("Waiting for part...\n");
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    printf("Part detected! Executing pick motion.\n");

    float pick[6] = {250.f, 200.f, 180.f, 180.f, 0.f, 0.f};
    drfl.movel(pick, (float[2]){80.f, 40.f}, (float[2]){300.f, 120.f});

    return 0;
}

In this example, the robot continuously monitors a DI channel until a part-detection sensor is triggered, then performs a pick motion.

Tips

• Use DI for sensors, machine-ready signals, and interlocks.

• Always validate sensor wiring and signal polarity.

• Use polling intervals of 20–100 ms for stable Auto Mode loops.

• Combine with DO signals for synchronized machine–robot control.