Features
This function reads the signal of the robot tool from the digital contact point. The multiple signals from the first contact point (start_index) to the last contact point (end_index) are input at one.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
bit_start |
int |
- |
Beginning contact number for input signals (1~6) |
|
bit_end |
int |
- |
Ending contact number for input signals (1~6) |
Return
|
Value |
Description |
|---|---|
|
int (>=0) |
Multiple contacts to be read at once Value of the combination of bits where bit_start =LSB and bit_end=MSB. |
|
Negative number |
Failed |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
# input contacts: No. 1=OFF, No. 2=OFF, and No. 3=ON
res = get_tool_digital_inputs(bit_start=1, bit_end=3)
#res expected value = 0b100 (binary number), 4 (decimal number), or 0x04 (hexadecimal number)
# input contacts: No. 4=ON, No. 5=ON, and No. 6=OFF
res = get_tool_digital_inputs(4, 6)
#res expected value = 0b011 (binary number), 3 (decimal number), or 0x03 (hexadecimal number)