# \[E-Series\]tool digital input function

**URL:** <https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899>\
**Category:** Technical Questions\
**Tags:** electrical\
**Created:** [March 21, 2019, 7:49am UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899 "2019-03-21T07:49:39Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![anon47499781](https://avatars.discourse-cdn.com/v4/letter/a/ed8c4c/32.png) [@anon47499781](https://forum.universal-robots.com/u/anon47499781)\
**Post date:** [March 21, 2019, 7:49am UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/1 "2019-03-21T07:49:39Z")

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HI all,

I set tool digital input signal function “FreedDrive” and with external push button  
Why it’s not work in “remote mode”?

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**Author:** ![inu](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/inu/32/732_2.png) [@inu](https://forum.universal-robots.com/u/inu)\
**Post date:** [March 21, 2019, 5:11pm UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/2 "2019-03-21T17:11:05Z")

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The way that the implementation of this functionality works in PolyScope doesn’t allow it to be used through remote mode. In remote mode, the robot is not allowed to receive URScript commands through ports 30001, 30002, and 30003. You can read more on this [here.](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/)

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [March 25, 2019, 12:54pm UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/3 "2019-03-25T12:54:17Z")

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i’m confused cuz you already gave me the solution for that: [Use Digital Input mapped to Freedrive in Remote Mode - #4 by m.birkholz](https://forum.universal-robots.com/t/use-digital-input-mapped-to-freedrive-in-remote-mode/2944/4)

using a python backend sending the freedrive command works great 🙂

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<div class="post-metadata">

**Author:** ![inu](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/inu/32/732_2.png) [@inu](https://forum.universal-robots.com/u/inu)\
**Post date:** [March 25, 2019, 7:17pm UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/4 "2019-03-25T19:17:57Z")

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Ah yes, thanks for pointing that out! I hadn’t tried that method yet.

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<div class="post-metadata">

**Author:** ![anon47499781](https://avatars.discourse-cdn.com/v4/letter/a/ed8c4c/32.png) [@anon47499781](https://forum.universal-robots.com/u/anon47499781)\
**Post date:** [March 26, 2019, 12:44am UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/5 "2019-03-26T00:44:16Z")

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HI m.birkholz

thx to your remind. 😉

because i want a physical button for function “FreedDrive” in remote mode.

it seems not allowed from ISO 10218-1, section 5.3.5.

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<div class="post-metadata">

**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [March 26, 2019, 7:33am UTC](https://forum.universal-robots.com/t/e-series-tool-digital-input-function/3899/6 "2019-03-26T07:33:47Z")

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u can send sth like:

def Freedrive():  
while(True):  
if get\_tool\_digital\_in(0):  
freedrive\_mode()  
else:  
end\_freedrive\_mode()  
end  
end  
end