get_tool_digital_input(index)
Features
This function reads the signal of the robot tool from the digital contact point.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
index | int | - | I/O contact number (1-6) mounted on the robot tool |
Return
| Value | Description |
|---|---|
1 | ON |
0 | OFF |
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
PY
get_tool_digital_input(1) # Reads the no. 1 contact of tool I/O
get_tool_digital_input(6) # Reads the no. 6 contact of tool I/O