set_mode_tool_analog_input

This function configures the input mode for the analog input channel on the robot tool flange (end-effector side). Each channel can be independently configured for either current mode (4–20 mA) or voltage mode (0–10 V) depending on the connected external sensor.

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

Definition
DRFLEx.h within class CDRFLEx, public section (line 856)

bool set_mode_tool_analog_input(int nCh, GPIO_ANALOG_TYPE eAnalogType)
{ return _set_mode_tool_analog_input(_rbtCtrl, nCh, eAnalogType); };

Parameter

Parameter Name	Data Type	Default Value	Description
nCh	int		Analog input channel number 1: Channel 1 2: Channel 2 3: Channel 3 (M/H models only) 4: Channel 4 (M/H models only)
eAnalogType	GPIO_ANALOG_TYPE		Input signal mode type.

Return

Value	Description
0	Error — Failed to set the input mode for the specified channel.
1	Success — Analog input mode successfully configured.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Configure tool analog input channel #1 as current mode (4–20 mA)
    drfl.set_mode_tool_analog_input(1, GPIO_ANALOG_TYPE_CURRENT);

    // Configure tool analog input channel #2 as voltage mode (0–10 V)
    drfl.set_mode_tool_analog_input(2, GPIO_ANALOG_TYPE_VOLTAGE);

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

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

This example demonstrates how to configure and read analog input channels on the robot’s tool flange. These inputs can be used to connect pressure sensors, load cells, or other analog transducers providing voltage or current feedback signals.