get_digital_input_ex (Manual Mode)

This section explains how to use get_digital_input_ex during Manual (Teach) operations to read digital input signals from both the control box and flange connector when using API version DRCF_VERSION == 3.

Compared to get_digital_input(Manual Mode), this extended version supports flange-level digital I/O and additional high-speed channels for sensors and smart end-effectors.

Typical usage

  • Monitor gripper or sensor trigger inputs from the flange connector.

  • Verify both control box and flange digital inputs during integration tests.

  • Debug I/O behavior in manual mode before enabling automatic operation.

Note

Example: Check control box and flange input states

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - DRCF_VERSION == 3
// - Flange I/O device connected (optional)

// 1) Read from control box inputs
bool din1 = drfl.get_digital_input_ex(DIN_1);
bool din2 = drfl.get_digital_input_ex(DIN_2);

// 2) Read from flange inputs (if supported)
bool f_din1 = drfl.get_digital_input_ex(FLANGE_DIN_1);
bool f_din2 = drfl.get_digital_input_ex(FLANGE_DIN_2);

printf("[CtrlBox DIN_1] = %s\n", din1 ? "ON" : "OFF");
printf("[CtrlBox DIN_2] = %s\n", din2 ? "ON" : "OFF");
printf("[Flange DIN_1]  = %s\n", f_din1 ? "ON" : "OFF");
printf("[Flange DIN_2]  = %s\n", f_din2 ? "ON" : "OFF");

Tips

  • Use flange inputs for real-time end-effector feedback or gripper-ready signals.

  • Confirm correct signal polarity and grounding between flange and control box.

  • For debugging, log input states continuously with 100–200 ms intervals.