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get_input()

Definition

get_input(port_type, index)

Features

This function sends a signal at the digital / analog contact point of the controller / flange. 

Caution

The parameters vary depending on the flange board version and robot model, so please check the manual.

Parameters

Parameter Name

Data Type

Default Value

Description

port_type

int

-

type of contact point

  • DR_CONTROLLER_DIGITAL : 0

  • DR_FLANGE_DIGITAL : 1

  • DR_CONTROLLER_ANALOG : 2

  • DR_CONTROLLER_FLANGE : 3

index

int

-

I/O contact number mounted on the controller(It also serves as a Chnnel for the Analog output)

  • when the port_type is DR_CONTROLLER_DIGITAL

    • Val argument existing: A number between 1 and 20

    • No val argument: 1 ~ 20 , -20 ~ -1 (A positive number means ON while a negative number means OFF.)

    • 17 - 20 (-20 ~ -17) are inputs of the SI1 - SI4 terminals.

  • when the port_type is DR_FLANGE_DIGITAL

    • when the model of robot is M/H with old flange

      • Val argument existing: A number between 1 and 6

      • No val argument: 1 ~ 6 , -1 ~ -6(A positive number means ON while a negative number means OFF.)

    • when the model of robot is A

      • Val argument existing: A number between 1 and 2

      • No val argument: 1 ~ 2 , -1 ~ -2(A positive number means ON while a negative number means OFF.)

    • when the model of robot is M/H with new flange

      • Val argument existing: A number between 1 and 4

      • No val argument: 1 ~ 4, -1 ~ -4(A positive number means ON while a negative number means OFF.)

  • when the port_type is DR_CONTROLLER_ANALOG

    • 1 ~ 2(channel)

  • when the port_type is DR_FLANGE_ANALOG(Only available on new flanges)

    • 1 ~ 2(A model)

    • 1 ~ 4(M/H model)

Note

If val is omitted, positive numbers become ON and negative numbers become OFF depending on the sign (+/-) of the index.

Return

Value

Description

1

(Digital)

ON

0

(Digital)

OFF

float

(Analog)

Current mode : 4.0 ~ 20.0(mA)

Voltage mode : 0.0 ~ 10.0(V)

Negative value

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

Python
res1 = get_input(0, 1) ## get_digital_input(1)
res2 = get_input(2, 1) ## get_analog_input(1)
res3 = get_input(3, 1) ## get_tool_analog_input(1)