Get Standard Analog Output
SUMMARY
Get Standard Analog Output returns the current commanded value of a standard analog output channel on the robot controller. The two standard analog outputs (index 0 and 1) can be configured for current (4–20 mA) or voltage (0–10 V) mode.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
value = robot.get_standard_analog_output(index=0)The Code
Example: Read Both Standard Analog Outputs
Connect to the robot, read both standard analog outputs, and log the values.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
v0 = robot.get_standard_analog_output(0)
logger.info(f"Standard analog output 0: {v0:.4f} V/A")
v1 = robot.get_standard_analog_output(1)
logger.info(f"Standard analog output 1: {v1:.4f} V/A")
# Disconnect
robot.disconnect()The Explanation of the Code
get_standard_analog_output reads the current commanded value of the specified standard analog output channel. The returned value is in the unit configured on the controller — either amperes [A] for current-mode or volts [V] for voltage-mode outputs. Index 0 maps to AO0 and index 1 maps to AO1.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
index | int | — | Analog output index: 0 for AO0, 1 for AO1. |
Return Value
| Type | Description |
|---|---|
float | Analog output value [A or V], depending on the output mode configured on the controller. |
Where to Use the Skill
- Output verification — Confirm that an analog output command was applied correctly
- Continuous process monitoring — Log analog output values during operation
When Not to Use the Skill
Do not use Get Standard Analog Output when:
- You need to read an analog sensor input — use Get Standard Analog Input instead