get_digital_output (Manual Mode)

This section explains how to use get_digital_output during Manual (Teach) operations to check the current ON/OFF status of digital output channels on the control box when using API version DRCF_VERSION == 2.

Typical usage

  • Verify whether a digital output (e.g., gripper open/close signal) is currently active.

  • Check if manual output toggling or DRL command has taken effect.

  • Debug wiring and output polarity during manual I/O testing.

Note

Example: Read digital output state

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Digital outputs manually set or controlled by prior test

// 1) Check DOUT_1 and DOUT_2 states
bool dout1 = drfl.get_digital_output(DOUT_1);
bool dout2 = drfl.get_digital_output(DOUT_2);

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

Tips

  • Use this function to confirm if previous set_digital_output() commands succeeded.

  • If outputs do not change, check I/O permissions and external power supply.