get_digital_output_ex (Manual Mode)

This section explains how to use get_digital_output_ex during Manual (Teach) operations to read the current digital output states from both control box and flange I/O when using API version DRCF_VERSION == 3.

Compared to get_digital_output(Manual Mode), this extended version supports flange-level digital outputs and improved I/O synchronization for advanced tooling and sensor control.

Typical usage

• Monitor output signals to both control box and flange ports.

• Verify gripper, solenoid, or light activation states during manual testing.

• Confirm output transitions in real-time before executing Auto sequences.

Note

• For legacy systems, use get_digital_output(Manual Mode).

Example: Check control box and flange output 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
    // - Digital outputs configured or toggled previously

    // 1) Check control box outputs
    bool dout1 = drfl.get_digital_output_ex(DOUT_1);
    bool dout2 = drfl.get_digital_output_ex(DOUT_2);

    // 2) Check flange outputs (if supported)
    bool f_dout1 = drfl.get_digital_output_ex(FLANGE_DOUT_1);
    bool f_dout2 = drfl.get_digital_output_ex(FLANGE_DOUT_2);

    std::printf("[CtrlBox DOUT_1] = %s\n", dout1 ? "ON" : "OFF");
    std::printf("[CtrlBox DOUT_2] = %s\n", dout2 ? "ON" : "OFF");
    std::printf("[Flange DOUT_1]  = %s\n", f_dout1 ? "ON" : "OFF");
    std::printf("[Flange DOUT_2]  = %s\n", f_dout2 ? "ON" : "OFF");

    return 0;
}

Tips

• Use flange outputs for tool control or signal forwarding to attached devices.

• If readings differ from expected state, check whether outputs are interlocked by safety settings.

• Combine with set_digital_output for real-time verification.