get_input(port_type, index)

Features

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

Caution

Depending on the current flange board version and robot model, the parameters may change. Please familiarize yourself with the manual.

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 Chnnel for the Analog output)

when the port_type is DR_CONTROLLER_DIGITAL
- Val argument existing: A number between 1 and 16
- No val argument: 1 ~ 16 , -1 ~ -16(A positive number means ON while a negative number means OFF.)
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

PY

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)