Greetings URCommunity,
I would like to know whether it is possible to know remotely (Dashboard, Primary Interface, etc) if the robot is in freedrive mode or not. I am sending the freedrive_mode() script but have no way of knowing if the robot is on freedrive or not. There’s also the possibility of having a physical button connected to the tool digital input 0. I have skimmed through the Primary Client Interface and apparently there’s no way of getting feedback from these inputs. If it was possible, I could know whether freedrive was enabled or not through the input status.
Any help is much appreciated
Best regards
PM
More than detecting if it’s in freedrive, I would like to be able to get feedback from the digital inputs and outputs of the tool. I am using the Primary Client Interface to get feedback from the standard and configurable digital inputs and outputs
Hi @PMonforte,
Have a look at communicating with the RTDE Client, I know you can fetch IO data from there, and you can also fetch “robot_mode” which may return an indication of freedrive mode.
You should be able to find several example implementations throughout the forum 
Hope this helps.
Sam
Hi Sam
Thank you very much for your reply. I have never been able to use the RTDE client with C# nor have I seen examples of RTDE in any language other than Python. Is there any compatibility issue?
Any help would be much appreciated
Best regards
PM