get_tool_digital_input (Manual Mode)

This section explains how to use get_tool_digital_input during Manual (Teach) operations to read the ON/OFF state of digital input signals from the tool (flange) connector connected to the robot’s end-effector.

Typical usage

• Monitor digital feedback from a gripper, vacuum sensor, or tool presence switch.

• Verify tool input wiring and polarity before automatic control.

• Check external sensor states in real time while teaching.

Note

• Read-only function — use set_tool_digital_output to control output lines.

Example: Read digital inputs from tool port

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Tool I/O properly connected and powered

// 1) Read tool digital inputs
bool tdi1 = drfl.get_tool_digital_input(TOOL_DI_1);
bool tdi2 = drfl.get_tool_digital_input(TOOL_DI_2);

printf("[TOOL_DI_1] = %s\n", tdi1 ? "ON" : "OFF");
printf("[TOOL_DI_2] = %s\n", tdi2 ? "ON" : "OFF");

Tips

• Ensure the tool is powered and the digital lines are configured as input.

• Check signal polarity (NPN/PNP) and reference voltage (24V/GND).

• For dynamic monitoring, poll the function periodically at ~100 ms intervals.

• Use this to validate sensor status during manual gripper testing or setup.