get_input() | V3-manual

Definition

get_input(port_type, index)

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.

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 Channel 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)

Parameter Name

Data Type

Default Value

Description

port_type

int

type of contact point

index

int

I/O contact number mounted on the controller(It also serves as a Channel 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.

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	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

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)