get_tool_digital_input (Manual Mode)

This section explains how to use get_tool_digital_input during Manual (Teach) operations to read the ON/OFF state of digital input signals from the tool (flange) connector connected to the robot’s end-effector.

Typical usage

• Monitor digital feedback from a gripper, vacuum sensor, or tool presence switch.

• Verify tool input wiring and polarity before automatic control.

• Check external sensor states in real time while teaching.

Note

• Read-only function — use set_tool_digital_output to control output lines.

Example: Read digital inputs from tool port

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Tool I/O properly connected and powered

    // 1) Read tool digital inputs
    bool tdi1 = drfl.get_tool_digital_input(TOOL_DI_1);
    bool tdi2 = drfl.get_tool_digital_input(TOOL_DI_2);

    std::printf("[TOOL_DI_1] = %s\n", tdi1 ? "ON" : "OFF");
    std::printf("[TOOL_DI_2] = %s\n", tdi2 ? "ON" : "OFF");

    return 0;
}

Tips

• Ensure the tool is powered and the digital lines are configured as input.

• Check signal polarity (NPN/PNP) and reference voltage (24V/GND).

• For dynamic monitoring, poll the function periodically at ~100 ms intervals.

• Use this to validate sensor status during manual gripper testing or setup.