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
PY
# 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)