get_digital_input (Manual Mode)

This section explains how to use get_digital_input during Manual (Teach) operations to read the ON/OFF state of digital input signals from the robot’s control box I/O ports when using API version DRCF_VERSION == 2.

Typical usage

• Check the current sensor or switch state wired to the control box.

• Verify safety interlocks, photo sensors, or external start signals during manual setup.

• Confirm correct wiring polarity and I/O assignment before automation.

Note

• For DRCF v3 and later, use get_digital_input_ex(Manual Mode).

Example: Read multiple digital inputs

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Digital sensors connected to control box input pins

    // 1) Read digital input #1 and #2
    bool din1 = drfl.get_digital_input(DIN_1);
    bool din2 = drfl.get_digital_input(DIN_2);

    std::printf("[DIN_1] = %s\n", din1 ? "ON" : "OFF");
    std::printf("[DIN_2] = %s\n", din2 ? "ON" : "OFF");

    return 0;
}

Tips

• Ensure the control box digital inputs are properly powered and configured as inputs.

• For NPN/PNP type mismatches, verify the wiring reference (GND or +24V).

• If values do not change, check I/O mapping or safety interlock configuration.