get_tool_digital_input

This function reads a digital input signal from the tool-side contact point mounted on the robot arm (end-effector side), through the robot controller.
It is mainly used to detect external signals from sensors or switches attached to the tool flange.

Definition
DRFLEx.h within class CDRFLEx, public section (line 833)

bool get_tool_digital_input(GPIO_TOOL_DIGITAL_INDEX eGpioIndex)
{ return _get_tool_digital_input(_rbtCtrl, eGpioIndex); };

Parameter

Parameter Name	Data Type	Default Value	Description
eGpioIndex	GPIO_TOOL_DIGITAL_INDEX		Index of the tool-side digital input pin

Return

Value	Description
0	OFF — No signal detected (Low level)
1	ON — Signal detected (High level)

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Check digital input #1 on the tool-side connector
    bool bSignal = drfl.get_tool_digital_input(GPIO_TOOL_DIGITAL_INDEX_1);

    if (bSignal) {
        // Example: sensor detected or gripper limit switch triggered
        printf("Tool input signal is ON.\\n");
    } else {
        printf("Tool input signal is OFF.\\n");
    }
}

This example demonstrates how to monitor tool-side input pins on the robot arm, which are commonly used to read signals from proximity sensors, gripper switches, or other external digital devices mounted on the tool flange.