get_tool_digital_output
This function checks the current output signal state of a tool-side digital contact point
mounted on the robot arm (end-effector side), through the robot controller.
It allows users to verify whether a tool digital output pin is currently ON or OFF.
Definition
DRFLEx.h within class CDRFLEx, public section (line 834)
bool get_tool_digital_output(GPIO_TOOL_DIGITAL_INDEX eGpioIndex)
{ return _get_tool_digital_output(_rbtCtrl, eGpioIndex); };
Parameter
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
eGpioIndex |
Index of the tool-side digital output pin to read |
Return
Value |
Description |
|---|---|
0 |
OFF — Digital output signal is currently low (0 V) |
1 |
ON — Digital output signal is currently high (24 V) |
Example
// Read current status of tool-side digital output #1
bool bOutputState = drfl.get_tool_digital_output(GPIO_TOOL_DIGITAL_INDEX_1);
if (bOutputState) {
printf("Tool output #1 is ON.\\n");
} else {
printf("Tool output #1 is OFF.\\n");
}
This example shows how to monitor the ON/OFF state of a digital output pin mounted on the robot tool flange — typically used for actuating grippers, valves, or other peripheral devices controlled via tool-side I/O.