Python 5.11. Obtain the DO output status at the end of the robot

Prototype	GetToolDO()
Description	Obtain the DO output status at the end of the robot
Mandatory parameters	NULL
Default Parameters	NULL
Return Value	errorcode Success-0 Failure- errcode do_state: DO output status: do0 to do1 correspond to bit1 to bit2, starting from bit0

5.12. Obtain the DO output status of the robot controller

Prototype	GetDO()
Description	Obtain the DO output status of the robot controller
Mandatory parameters	NULL
Default Parameters	NULL
Return Value	errorcode Success-0 Failure- errcode do_state_h: DO output status: co0 to co7 correspond to bit0 to bit7. do_state_l DO output status: do0 to do7 correspond to bit0 to bit7

5.13. Get the robot DI, DO status code examples

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
block = 0
error,di = robot.GetDI(0, block)
print(f"di0: {di}")
error,tool_di = robot.GetToolDI(1, block)
print(f"tool_di1: {tool_di}")
error,ai = robot.GetAI(0, block)
print(f"ai0: {ai:.2f}")
error,tool_ai = robot.GetToolAI(0, block)
print(f"tool_ai0: {tool_ai:.2f}")
error,button_state = robot.GetAxlePointRecordBtnState()
print(f"_button_state is: {button_state}")
error,tool_do_state = robot.GetToolDO()
print(f"tool DO state: {tool_do_state}")
error,[do_state_h, do_state_l] = robot.GetDO()
print(f"DO state hight  : {do_state_h}")
print(f"DO state low : {do_state_l}")
robot.CloseRPC()

5.14. Waiting for control box digital inputs

prototype	WaitDI(id,status,maxtime,opt)
Description	Waiting for control box digital input
Mandatory parameters	id: io number, range [0~15]; status: 0-off, 1-on; maxtime: maximum waiting time in [ms]; opt: post timeout policy, 0-program stops and prompts for timeout, 1-ignore timeout prompts program to continue execution, 2-always wait
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

5.15. Waiting for control box with multiple digital inputs

prototype	WaitMultiDI(mode,id,status,maxtime,opt)
Description	Waiting for control box with multiple digital inputs
Mandatory parameters	mode: [0]-multiple with, [1]-multiple or; id: io number, bit0~bit7 correspond to DI0~DI7, bit8~bit15 correspond to CI0~CI7; status: bit0~bit7 corresponds to DI0~DI7 status, bit8~bit15 corresponds to the status of CI0~CI7 status bits [0]-off, [1]-on; maxtime: maximum waiting time in [ms]; opt: post-timeout policy, 0-program stops and prompts for timeout, 1-ignores timeout prompting program to continue execution, 2-always waits.
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

5.16. Waiting for tool digital inputs

prototype	WaitToolDI(id,status,maxtime,opt)
Description	Waiting for end digital input
Mandatory parameters	id: io number, range [0~1]; status: 0-off, 1-on; maxtime: maximum waiting time in [ms]; opt: post timeout policy, 0-program stops and prompts for timeout, 1-ignore timeout prompts program to continue execution, 2-always wait
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

5.17. Waiting for control box analog inputs

prototype	WaitAI(id,sign,value,maxtime,opt)
Description	Waiting for control box analog input
Mandatory parameters	id: io number, range [0~1]; sign: 0 - greater than, 1 - less than value: percentage of input current or voltage value, range [0~100] corresponding to current value [0~20mA] or voltage [0~10V]; maxtime: maximum waiting time in [ms]; opt: post timeout policy, 0-program stops and prompts for timeout, 1-ignore timeout prompts program to continue execution, 2-always wait
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

5.18. Waiting for tool analog inputs

prototype	WaitToolAI(id,sign,value,maxtime,opt)
Description	Waiting for end analog input
Mandatory parameters	id: io number, range [0]; sign: 0 - greater than, 1 - less than value: percentage of input current or voltage value, range [0~100] corresponding to current value [0~20mA] or voltage [0~10V]; maxtime: maximum waiting time in [ms]; opt: post timeout policy, 0-program stops and prompts for timeout, 1-ignore timeout prompts program to continue execution, 2-always wait
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode