get_tool_analog_input (Manual Mode)

This section explains how to use get_tool_analog_input during Manual (Teach) operations to read analog input signals from the tool (flange) port connected to the robot’s end-effector.

Typical usage

  • Measure analog voltage or current values from sensors mounted on the flange (e.g., force, distance, pressure).

  • Check sensor wiring and output levels during manual setup before automatic operation.

  • Verify tool feedback for calibration or diagnostic purposes.

Note

  • The signal range depends on the tool configuration (commonly 0–10 V or 4–20 mA).

  • Ensure that the corresponding tool I/O configuration is properly set in the controller.

Example: Read analog values from flange input channels

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

// 1) Read tool analog input CH1 and CH2
float val_ch1 = drfl.get_tool_analog_input(1);
float val_ch2 = drfl.get_tool_analog_input(2);

printf("[Tool Analog CH1] = %.3f V\n", val_ch1);
printf("[Tool Analog CH2] = %.3f V\n", val_ch2);

Tips

  • Confirm that the tool I/O port mode is configured for analog input in the teach pendant.

  • For noisy signals, apply software filtering or averaging over several reads.

  • If readings remain zero, check the pin assignment and ensure proper grounding.