set_mode_tool_analog_input (Manual Mode)

This section explains how to use set_mode_tool_analog_input during Manual (Teach) operations to configure the analog input mode (Voltage or Current) of the tool (flange) analog input channels.

Typical usage

• Select the correct analog input mode for sensors connected to the flange, such as force, pressure, or distance sensors.

• Match the robot’s tool analog configuration with the sensor’s output type.

• Verify the correct mode setting before reading values using get_tool_analog_input.

Note

• This function applies only to flange (tool) analog input ports.

Example: Configure tool analog input channels

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Tool (flange) analog sensor connected

    // 1) Set tool analog input CH1 to current mode (4–20 mA)
    drfl.set_mode_tool_analog_input(1, GPIO_ANALOG_TYPE_CURRENT);
    std::printf("[Tool Analog IN CH1] Mode set to CURRENT\n");

    // 2) Set tool analog input CH2 to voltage mode (0–10 V)
    drfl.set_mode_tool_analog_input(2, GPIO_ANALOG_TYPE_VOLTAGE);
    std::printf("[Tool Analog IN CH2] Mode set to VOLTAGE\n");

    return 0;
}

Tips

• Ensure the connected sensor’s output signal type matches the selected mode.

• In current mode, verify the external loop power supply and wiring polarity.

• If readings are unstable, check grounding and cable shielding at the tool connector.

• Always recheck analog input mode after power cycling or controller reset.