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
PY
# 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)