get_digital_output_ex (Manual Mode)

This section explains how to use get_digital_output_ex during Manual (Teach) operations to read the current digital output states from both control box and flange I/O when using API version DRCF_VERSION == 3.

Compared to get_digital_output(Manual Mode), this extended version supports flange-level digital outputs and improved I/O synchronization for advanced tooling and sensor control.

Typical usage

  • Monitor output signals to both control box and flange ports.

  • Verify gripper, solenoid, or light activation states during manual testing.

  • Confirm output transitions in real-time before executing Auto sequences.

Note

Example: Check control box and flange output states

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - DRCF_VERSION == 3
// - Digital outputs configured or toggled previously

// 1) Check control box outputs
bool dout1 = drfl.get_digital_output_ex(DOUT_1);
bool dout2 = drfl.get_digital_output_ex(DOUT_2);

// 2) Check flange outputs (if supported)
bool f_dout1 = drfl.get_digital_output_ex(FLANGE_DOUT_1);
bool f_dout2 = drfl.get_digital_output_ex(FLANGE_DOUT_2);

printf("[CtrlBox DOUT_1] = %s\n", dout1 ? "ON" : "OFF");
printf("[CtrlBox DOUT_2] = %s\n", dout2 ? "ON" : "OFF");
printf("[Flange DOUT_1]  = %s\n", f_dout1 ? "ON" : "OFF");
printf("[Flange DOUT_2]  = %s\n", f_dout2 ? "ON" : "OFF");

Tips

  • Use flange outputs for tool control or signal forwarding to attached devices.

  • If readings differ from expected state, check whether outputs are interlocked by safety settings.

  • Combine with set_digital_output for real-time verification.