set_mode_analog_input (Manual Mode)

This section explains how to use set_mode_analog_input during Manual (Teach) operations to configure the signal type (Voltage or Current) of the control box analog input channels.

Typical usage

  • Define whether each analog input channel operates in voltage mode (0–10 V) or current mode (4–20 mA).

  • Match the robot’s analog input configuration with external sensors’ signal types.

  • Prevent incorrect readings due to mismatched input mode.

Note

  • Setting takes effect immediately; ensure no analog read operation is in progress.

Example: Configure analog input types on control box

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active

// 1) Set CH1 as current input (4–20 mA)
drfl.set_mode_analog_input(ANALOG_IN_CH1, GPIO_ANALOG_TYPE_CURRENT);
printf("[Analog IN CH1] Mode set to CURRENT\n");

// 2) Set CH2 as voltage input (0–10 V)
drfl.set_mode_analog_input(ANALOG_IN_CH2, GPIO_ANALOG_TYPE_VOLTAGE);
printf("[Analog IN CH2] Mode set to VOLTAGE\n");

Tips

  • Ensure sensor output and control box mode match exactly (both voltage or both current).

  • For current mode, verify proper current loop wiring and resistance compliance.

  • Mode setting is persistent only until power cycle unless saved by higher-level configuration.