get_analog_input (Manual Mode)

This section explains how to use get_analog_input during Manual (Teach) operations to read analog voltage or current values from the robot’s control box analog input ports when using API version DRCF_VERSION == 2.

Typical usage

• Monitor external sensors or potentiometers connected to control box analog inputs.

• Verify signal levels (0–10 V or 4–20 mA) during wiring inspection or manual calibration.

• Check feedback from an analog device (e.g., pressure, torque, distance) before automation setup.

Note

• Range and scaling are defined by control box settings (check teach pendant → I/O → Analog).

Example: Read analog input voltage from control box

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Control box analog input connected to voltage or sensor signal

    // 1) Read CH1 analog value
    float value_ch1 = drfl.get_analog_input(ANALOG_IN_CH1);
    std::printf("[Analog CH1] = %.3f V\n", value_ch1);

    // 2) Read CH2 analog value
    float value_ch2 = drfl.get_analog_input(ANALOG_IN_CH2);
    std::printf("[Analog CH2] = %.3f V\n", value_ch2);

    return 0;
}

Tips

• Ensure correct input mode (Voltage/Current) is configured on the controller.

• If readings are unstable, add a short delay between reads (e.g., 100 ms).