wait_input(port_type, index, val, timeout=None, condition=None)

Features

It waits until the signal value received from the digital/analog contact of the controller/flange becomes val. The wait time can be changed with the timeout setting, and the result is returned as soon as the wait state ends after the specified amount of time has elapsed. However, if timeout is not set, it will wait indefinitely.

Caution

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

Parameters

Parameter Name	Data Type	Default Value	Description
port_type	int	-	type of contact point DR_CONTROLLER_DIGITAL : 0 DR_FLANGE_DIGITAL : 1 DR_CONTROLLER_ANALOG : 2 DR_FLANGE_ANALOG : 3
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)
val	float	-	I/O value when the port_type is 0 or 1(digital) ON : 1 OFF : 0 when the port_type is 2(analog) current mode : 4.00 ~ 20.00(mA) voltage mode : 0.00 ~ 10.00(V)
timeout	float	None	waiting time [sec] If not set, wait indefinitely
condition	int	None	Analog value comparison condition DR_ANALOG_CONDITION_UPPER: 0 Wait until the received analog input is greater than or equal to the val parameter. DR_ANALOG_CONDITION_LOWER : 1 Wait until the received analog input is less than or equal to the val parameter

Note

If val is omitted, positive numbers become ON and negative numbers become OFF depending on the sign (+/-) of the index.

Return

Value	Description
0	Success
-1	Failed(time-out)

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

wait_input(0, 1, ON) # wait_digital_input(1, ON)
wait_input(1, 2, ON) # wait_tool_digital_input(2, ON)
wait_input(2, 1, 4.0, DR_ANALOG_CONDITION_LOWER) # wait_analog_input(1, DR_ANALOG_CONDITION_LOWER, 4.0)

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Example

Features