get_tool_analog_input

This function retrieves the analog input signal value from the tool flange of the robot. The signal can be either current (4–20 mA) or voltage (0–10 V), depending on the configured mode for the selected channel.

This function is available only on the new flange version (v2). For M/H series models, additional channels (3 and 4) are supported.

Definition
DRFLEx.h within class CDRFLEx, public section (line 853)

float get_tool_analog_input(int nCh)
{ return _get_tool_analog_input(_rbtCtrl, nCh); };

Parameter

Parameter Name	Data Type	Default Value	Description
nCh	int		Analog input channel number 1: Channel, 2: Channel 2 3: Channel 3 (M/H models only) 4: Channel 4 (M/H models only)

Return

Value	Description
float	The measured analog signal value from the tool flange. Depending on mode: - Current mode: 4.0 ~ 20.0 [mA] - Voltage mode: 0.0 ~ 10.0 [V]

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Set tool analog input channel 1 to current mode
    drfl.set_mode_tool_analog_input(1, GPIO_ANALOG_TYPE_CURRENT);

    // Set tool analog input channel 2 to voltage mode
    drfl.set_mode_tool_analog_input(2, GPIO_ANALOG_TYPE_VOLTAGE);

    // Read analog values from both channels
    float current = drfl.get_tool_analog_input(1);
    float voltage = drfl.get_tool_analog_input(2);

    printf("Tool Analog CH1 (Current): %.2f mA\n", current);
    printf("Tool Analog CH2 (Voltage): %.2f V\n", voltage);
}

This example demonstrates how to configure and read analog input values from the robot tool flange. These inputs are typically connected to sensors, such as force sensors, potentiometers, or pressure sensors that provide analog signals.