get_digital_output (Manual Mode)

This section explains how to use get_digital_output during Manual (Teach) operations to check the current ON/OFF status of digital output channels on the control box when using API version DRCF_VERSION == 2.

Typical usage

• Verify whether a digital output (e.g., gripper open/close signal) is currently active.

• Check if manual output toggling or DRL command has taken effect.

• Debug wiring and output polarity during manual I/O testing.

Note

• For newer systems, use get_digital_output_ex(Manual Mode).

Example: Read digital output state

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Digital outputs manually set or controlled by prior test

    // 1) Check DOUT_1 and DOUT_2 states
    bool dout1 = drfl.get_digital_output(DOUT_1);
    bool dout2 = drfl.get_digital_output(DOUT_2);

    std::printf("[DOUT_1] = %s\n", dout1 ? "ON" : "OFF");
    std::printf("[DOUT_2] = %s\n", dout2 ? "ON" : "OFF");

    return 0;
}

Tips

• Use this function to confirm if previous set_digital_output() commands succeeded.

• If outputs do not change, check I/O permissions and external power supply.