get_tool_digital_inputs(bit_list)
Features
This function reads the signal of the robot tool from the digital contact point.
The digital signals of the contact points defined in bit_list are input at one.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
bit_list |
list (int) |
- |
List of contact points to read
|
Return
|
Value |
Description |
|---|---|
|
int (>=0) |
Multiple contacts to be read at once (the value of the combination of the bit list 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_list=[1,2,3]) # Reads the contacts 1, 2, and 3 at once.
#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([4,5,6])
#res expected value = 0b011 (binary number), 3 (decimal number), or 0x03 (hexadecimal number)
Keyword
get / tool / digital / inputs / get_tool / digital_inputs / tool_digital_inputs
get_tool_digital_inputs(bit_start, bit_end)
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)
Keyword
get / tool / digital / inputs / get_tool / digital_inputs / tool_digital_inputs