get_tool_digital_output (Manual Mode)

This section explains how to use get_tool_digital_output during Manual (Teach) operations to check the current ON/OFF state of digital output signals from the tool (flange) connector.

Typical usage

  • Verify if output commands sent to the tool port are correctly activated.

  • Check gripper control signals or vacuum valve status during manual debugging.

  • Monitor tool output states before and after using set_tool_digital_output.

Note

  • Used mainly for status verification after manual or DRL-driven output operations.

Example: Read digital outputs from tool port

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Tool outputs configured and powered

// 1) Check tool output states
bool tdo1 = drfl.get_tool_digital_output(TOOL_DO_1);
bool tdo2 = drfl.get_tool_digital_output(TOOL_DO_2);

printf("[TOOL_DO_1] = %s\n", tdo1 ? "ON" : "OFF");
printf("[TOOL_DO_2] = %s\n", tdo2 ? "ON" : "OFF");

Tips

  • Confirm that the tool I/O configuration is set to output mode.

  • If outputs remain OFF, ensure external 24V supply and signal mapping are correct.

  • Use in combination with set_tool_digital_output to toggle and verify signals.

  • Suitable for manual gripper open/close or vacuum valve activation tests.