get_digital_input_ex (Manual Mode)

This section explains how to use get_digital_input_ex during Manual (Teach) operations to read digital input signals from both the control box and flange connector when using API version DRCF_VERSION == 3.

Compared to get_digital_input(Manual Mode), this extended version supports flange-level digital I/O and additional high-speed channels for sensors and smart end-effectors.

Typical usage

Monitor gripper or sensor trigger inputs from the flange connector.
Verify both control box and flange digital inputs during integration tests.
Debug I/O behavior in manual mode before enabling automatic operation.

Note

For earlier firmware, use get_digital_input(Manual Mode).

Example: Check control box and flange input states

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - DRCF_VERSION == 3
    // - Flange I/O device connected (optional)

    // 1) Read from control box inputs
    bool din1 = drfl.get_digital_input_ex(DIN_1);
    bool din2 = drfl.get_digital_input_ex(DIN_2);

    // 2) Read from flange inputs (if supported)
    bool f_din1 = drfl.get_digital_input_ex(FLANGE_DIN_1);
    bool f_din2 = drfl.get_digital_input_ex(FLANGE_DIN_2);

    std::printf("[CtrlBox DIN_1] = %s\n", din1 ? "ON" : "OFF");
    std::printf("[CtrlBox DIN_2] = %s\n", din2 ? "ON" : "OFF");
    std::printf("[Flange DIN_1]  = %s\n", f_din1 ? "ON" : "OFF");
    std::printf("[Flange DIN_2]  = %s\n", f_din2 ? "ON" : "OFF");

    return 0;
}

Tips

Use flange inputs for real-time end-effector feedback or gripper-ready signals.
Confirm correct signal polarity and grounding between flange and control box.
For debugging, log input states continuously with 100–200 ms intervals.