5. IO

5.1. Setting the control box digital output

prototype	SetDO(id, status, smooth=0, block=0)
Description	Setting the control box digital outputs
Mandatory parameters	id: io number, range [0~15]; status: 0 - off, 1 - on;
Default Parameters	smooth: 0-not smooth, 1-smooth Default 0; block:0-blocking, 1-non-blocking Default 0
Return Value	Error Code Success-0 Failure- errcode

5.2. Setting Tool Digital Outputs

prototype	SetToolDO (id, status, smooth=0, block=0)
Description	Setting the digital output of the tool
Mandatory parameters	id: io number, range [0~1]; status: 0 - off, 1 - on;
Default Parameters	smooth: 0-not smooth, 1-smooth; block: 0-blocking, 1-non-blocking.
Return Value	Error Code Success-0 Failure- errcode

5.3. Setting the control box analog output

Prototype	SetAO(id,value,block=0)
Description	Setting the control box analog output
Mandatory parameters	id: io number, range [0~1]; value: percentage of current or voltage value in the range [0 to 100%] corresponding to current value [0 to 20 mA] or voltage [0 to 10 V];
Default parameters	block:[0]-blocking, [1]-non-blocking Default 0
Return Value	Error Code Success-0 Failure- errcode

5.4. Setting Tool Analog Outputs

Prototype	SetToolAO(id,value,block=0)
Description	Setup Tool Analog Output
Mandatory parameters	id: io number, range [0]; value: percentage of current or voltage value in the range [0 to 100%] corresponding to current value [0 to 20 mA] or voltage [0 to 10 V];
Default parameters	block:[0]-blocking, [1]-non-blocking Default 0
Return Value	Error Code Success-0 Failure- errcode

5.5. Set digital, analog output code example

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')
status = 1
smooth = 0
block = 0
for i in range(16):
    robot.SetDO(i, status, smooth, block)
    time.sleep(0.3)
status = 0
for i in range(16):
    robot.SetDO(i, status, smooth, block)
    time.sleep(0.3)
status = 1
for i in range(2):
    robot.SetToolDO(i, status, smooth, block)
    time.sleep(1)
status = 0
for i in range(2):
    robot.SetToolDO(i, status, smooth, block)
    time.sleep(1)
for i in range(100):
    robot.SetAO(0, i, block)
    time.sleep(0.03)
for i in range(100):
    robot.SetToolAO(0, i, block)
    time.sleep(0.03)
robot.CloseRPC()

5.6. Getting control box digital inputs

prototype	GetDI(id, block=0)
Description	Get control box digital inputs
Mandatory parameters	id: io number, range [0~15];
Default Parameters	block: 0-blocking, 1-non-blocking Default 0
Return Value	errorcode Success-0 Failure- errcode di: 0-low level, 1-high level

5.7. Get Tool Digital Inputs

prototype	GetToolDI(id, block=0)
Description	Get Tool Digital Inputs
Mandatory parameters	id: io number, range [0~1];
Default Parameters	block: 0-blocking, 1-non-blocking Default 0
Return Value	Error Code Success-0 Failure- errcode - di: 0 - low level, 1 - high level

5.8. Getting Control Box Analog Inputs

Prototype	GetAI(id, block = 0)
Description	Get control box analog inputs
Mandatory parameters	id: io number, range [0~1];
Default Parameters	block:0-blocking, 1-non-blocking Default 0
Return Value	errorcode Success-0 Failure- errcode value: Percentage of input current or voltage value, range [0~100] corresponding to current value [0~20mA] or voltage [0~10V].

5.9. Get Tool Analog Inputs

Prototype	GetToolAI (id, block = 0)
Description	Get end analog input
Mandatory parameters	id: io number, range [0];
Default Parameters	block: 0-blocking, 1-non-blocking Default 0
Return Value	errorcode Success-0 Failure- errcode value: Percentage of input current or voltage value, range [0~100] corresponding to current value [0~20mA] or voltage [0~10V].

5.10. Obtain the status of the button for recording the end point of the robot

Prototype	GetAxlePointRecordBtnState()
Description	Obtain the status of the button for recording the end point of the robot
Mandatory parameters	NULL
Default Parameters	NULL
Return Value	errorcode Success-0 Failure- errcode buttonstatus: Button status: 0- Press, 1- release

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

5.19. Waiting control box digital, analog input signal code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
status = 1
smooth = 0
block = 0
for i in range(16):
    robot.SetDO(i, status, smooth, block)
    time.sleep(0.3)
status = 0
for i in range(16):
    robot.SetDO(i, status, smooth, block)
    time.sleep(0.3)
status = 1
for i in range(2):
    robot.SetToolDO(i, status, smooth, block)
    time.sleep(1)
status = 0
for i in range(2):
    robot.SetToolDO(i, status, smooth, block)
    time.sleep(1)
for i in range(100):
    robot.SetAO(0, i, block)
    time.sleep(0.03)
for i in range(100):
    robot.SetToolAO(0, i, block)
    time.sleep(0.03)
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}")
rtn = robot.WaitDI(0, 1, 1000, 1)
print(f"WaitDI over; rtn is: {rtn}")
rtn = robot.WaitMultiDI(1, 3, 3, 1000, 1)
print(f"WaitDI over; rtn is: {rtn}")
rtn = robot.WaitToolDI(1, 1, 1000, 1)
print(f"WaitDI over; rtn is: {rtn}")
rtn = robot.WaitAI(0, 0, 50, 1000, 1)
print(f"WaitDI over; rtn is: {rtn}")
rtn = robot.WaitToolAI(0, 0, 50, 1000, 1)
print(f"WaitDI over; rtn is: {rtn}")
robot.CloseRPC()

5.20. Set Whether Control Box DO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetCtlBoxDO(resetFlag,reloadFlag)
Description	Set whether control box DO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.21. Set Whether Control Box AO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetCtlBoxAO(resetFlag,reloadFlag)
Description	Set whether control box AO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.22. Set Whether End Tool DO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetAxleDO(resetFlag,reloadFlag)
Description	Set whether end tool DO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.23. Set Whether End Tool AO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetAxleAO(resetFlag,reloadFlag)
Description	Set whether end tool AO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.24. Set Whether Extended DO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetExtDO (resetFlag,reloadFlag)
Description	Set whether extended DO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.25. Set Whether Extended AO Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetExtAO (resetFlag,reloadFlag)
Description	Set whether extended AO output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.26. Set Whether SmartTool Output Resets After Stop/Pause

Added in version python: SDK-v2.0.5

Prototype	SetOutputResetSmartToolDO(resetFlag,reloadFlag)
Description	Set whether SmartTool output resets after stop/pause
Required Parameters	resetFlag：0-Do not reset; 1-Reset reloadFlag：Whether to reload after pause resume, 0-Do not load; 1-Load
Default Parameters	None
Return Value	Error code Success-0 Failure- errcode

5.27. Code Example for Setting Output Reset After Lua Program Stop/Pause

from fairino import Robot
import time
robot = Robot.RPC('192.168.58.2')
for i in range(16):
    robot.SetDO(i, 1, 0, 0)
    time.sleep(0.2)
resetFlag = 0
resumeReloadFlag = 0
rtn = robot.SetOutputResetCtlBoxDO(resetFlag, resumeReloadFlag)
robot.SetOutputResetCtlBoxAO(resetFlag, resumeReloadFlag)
robot.SetOutputResetAxleDO(resetFlag, resumeReloadFlag)
robot.SetOutputResetAxleAO(resetFlag, resumeReloadFlag)
robot.SetOutputResetExtDO(resetFlag, resumeReloadFlag)
robot.SetOutputResetExtAO(resetFlag, resumeReloadFlag)
robot.SetOutputResetSmartToolDO(resetFlag, resumeReloadFlag)
robot.ProgramLoad("test.lua")
robot.ProgramRun()
time.sleep(2)
robot.PauseMotion()
time.sleep(2)
robot.ResumeMotion()
time.sleep(2)
robot.CloseRPC()
return 0

5.28. Set Configurable CI Port Functions

Prototype	SetDIConfig(config)
Description	Set configurable CI port functions
Required Parameters	config: CI0-CI7 function code array, 0-None;1-Arc start success;2-Welder ready;3-Conveyor detection;4-Pause;5-Resume;6-Start;7-Stop; 8-Pause/Resume;9-Start/Stop;10-Pedal drag;11-Move to home position;12-Manual/Auto switch; 13-Wire search success;14-Motion interrupt;15-Start main program;16-Start rewind;17-Start confirmation; 18-Photoelectric detection signal X;19-Photoelectric detection signal Y;20-External emergency stop input signal 1;21-External emergency stop input signal 2; 22-Level 1 reduction mode;23-Level 2 reduction mode;24-Level 3 reduction mode (Stop);25-Resume welding;26-Terminate welding; 27-Assist drag enable;28-Assist drag disable;29-Assist drag enable/disable;30-Clear all errors; 31-Manual/Auto switch (high/low level);32-Enable;33-Disable;34-Enable/Disable (rising/falling edge);35-Fixed-point tracking start/end 36-Enter safety speed motion;37-Current loop drag lock;38-Force sensor assisted lock
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.29. Get Configurable CI Port Functions of the Control Box

Prototype	GetDIConfig()
Description	Get configurable CI port functions of the control box
Required Parameters	config: CI0-CI7 function code array, 0-None;1-Arc start success;2-Welder ready;3-Conveyor detection;4-Pause;5-Resume;6-Start;7-Stop; 8-Pause/Resume;9-Start/Stop;10-Pedal drag;11-Move to home position;12-Manual/Auto switch; 13-Wire search success;14-Motion interrupt;15-Start main program;16-Start rewind;17-Start confirmation; 18-Photoelectric detection signal X;19-Photoelectric detection signal Y;20-External emergency stop input signal 1;21-External emergency stop input signal 2; 22-Level 1 reduction mode;23-Level 2 reduction mode;24-Level 3 reduction mode (Stop);25-Resume welding;26-Terminate welding; 27-Assist drag enable;28-Assist drag disable;29-Assist drag enable/disable;30-Clear all errors; 31-Manual/Auto switch (high/low level);32-Enable;33-Disable;34-Enable/Disable (rising/falling edge);35-Fixed-point tracking start/end; 36-Enter safety speed motion;37-Current loop drag lock;38-Force sensor assisted lock; 201-External emergency stop input signal 1-dual channel; 202-External emergency stop input signal 2-dual channel; 203-Level 1 reduced mode-dual channel; 204-Level 2 reduced mode-dual channel; 205-Level 3 reduced mode-dual channel; 206-Normal stop-dual channel; 207-Safety wall 1-dual channel; 208-Safety wall 2-dual channel; 209-Safety wall 3-dual channel; 210-Safety wall 4-dual channel; 211-Safety wall 5-dual channel; 212-Safety wall 6-dual channel; 213-Safety wall 7-dual channel; 214-Safety wall 8-dual channel; 215-Safety stop reset-dual channel;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.30. Set Configurable CO Port Functions

Prototype	SetDOConfig(config)
Description	Set configurable CO port functions
Required Parameters	config: CO0-CO7 function code array, 0-None;1-Robot error;2-Robot in motion;3-Spray start/stop;4-Spray gun cleaning;5-Gas supply signal;6-Arc start signal;7-Jog wire feed; 8-Reverse wire feed;9-JOB input port 1;10-JOB input port 2;11-JOB input port 3;12-Conveyor start/stop control;13-Robot paused;14-Reached home position; 15-Reached interference area;16-Wire search start/stop control;17-Robot start completed;18-Program start/stop;19-Auto/Manual mode;20-Emergency stop output signal 1-Safety; 21-Emergency stop output signal 2-Safety;22-Lua script program running/stopped;23-Safety status output-Safety;24-Protective stop status output-Safety; 25-Robot in motion-Safety;26-Robot reduced mode-Safety;27-Robot non-reduced mode-Safety;28-Robot non-stopped;29-Robot error-Instruction point error; 30-Robot error-Driver error;31-Robot error-Soft limit exceeded error;32-Robot error-Collision error;33-Robot error-Active slave count error; 34-Robot error-Slave error;35-Robot error-IO error;36-Robot error-Gripper error;37-Robot error-File error;38-Robot error-Singular pose error; 39-Robot error-Driver communication error;40-Robot error-Parameter error;41-Robot error-External axis soft limit exceeded error;42-Robot warning-Warning; 43-Robot warning-Safety door warning;44-Robot warning-Motion warning;45-Robot warning-Interference area warning;46-Robot warning-Safety wall warning; 47-Enable status;48-Auto lift during disconnection;49-Cube 1 interference warning;50-Cube 2 interference warning;51-Cube 3 interference warning;52-Cube 4 interference warning;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.31. Get Configurable CO Port Functions

Prototype	GetDOConfig()
Description	Get configurable CO port functions
Required Parameters	config: CO0-CO7 function code array, 0-None;1-Robot error;2-Robot in motion;3-Spray start/stop;4-Spray gun cleaning;5-Gas supply signal;6-Arc start signal;7-Jog wire feed; 8-Reverse wire feed;9-JOB input port 1;10-JOB input port 2;11-JOB input port 3;12-Conveyor start/stop control;13-Robot paused;14-Reached home position; 15-Reached interference area;16-Wire search start/stop control;17-Robot start completed;18-Program start/stop;19-Auto/Manual mode;20-Emergency stop output signal 1-Safety; 21-Emergency stop output signal 2-Safety;22-Lua script program running/stopped;23-Safety status output-Safety;24-Protective stop status output-Safety; 25-Robot in motion-Safety;26-Robot reduced mode-Safety;27-Robot non-reduced mode-Safety;28-Robot non-stopped;29-Robot error-Instruction point error; 30-Robot error-Driver error;31-Robot error-Soft limit exceeded error;32-Robot error-Collision error;33-Robot error-Active slave count error; 34-Robot error-Slave error;35-Robot error-IO error;36-Robot error-Gripper error;37-Robot error-File error;38-Robot error-Singular pose error; 39-Robot error-Driver communication error;40-Robot error-Parameter error;41-Robot error-External axis soft limit exceeded error;42-Robot warning-Warning; 43-Robot warning-Safety door warning;44-Robot warning-Motion warning;45-Robot warning-Interference area warning;46-Robot warning-Safety wall warning; 47-Enable status;48-Auto lift during disconnection;49-Cube 1 interference warning;50-Cube 2 interference warning;51-Cube 3 interference warning;52-Cube 4 interference warning; 201-Emergency stop output signal 1-dual channel; 202-Emergency stop output signal 2-dual channel; 203-Safety status output-dual channel; 204-Protective stop status output-dual channel; 205-Robot in motion-dual channel; 206-Robot reduced mode-dual channel; 207-Robot non-reduced mode-dual channel;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.32. Set Configurable End-CI Port Functions of the End-Effector

Prototype	SetToolDIConfig(config)
Description	Set configurable End-CI port functions of the end-effector
Required Parameters	config: End CI0-CI1 function code array, 0-None;1-Drag teaching tool switch;2-Point recording signal;3-Manual/Auto switch (pulse signal);4-TPD recording start/stop;5-Pause motion; 6-Resume motion;7-Start;8-Stop;9-Pause/Resume;10-Start/Stop;11-Force sensor assist drag enable;12-Force sensor assist drag disable; 13-Force sensor assist drag enable/disable;14-Laser detection signal X;15-Laser detection signal Y;16-PTP motion to home position;17-Motion interrupt, stop current motion based on signal; 18-Start main program;19-Start rewind;20-Start confirmation;21-Resume welding;22-Terminate welding;23-Clear error;24-Manual/Auto switch (high/low level); 25-Enable;26-Disable;27-Enable/Disable;28-Laser servo tracking start/stop signal;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.33. Get Configurable End-CI Port Functions of the End-Effector

Prototype	GetToolDIConfig()
Description	Get configurable End-CI port functions of the end-effector
Required Parameters	config: End CI0-CI1 function code array, 0-None;1-Drag teaching tool switch;2-Point recording signal;3-Manual/Auto switch (pulse signal);4-TPD recording start/stop;5-Pause motion; 6-Resume motion;7-Start;8-Stop;9-Pause/Resume;10-Start/Stop;11-Force sensor assist drag enable;12-Force sensor assist drag disable; 13-Force sensor assist drag enable/disable;14-Laser detection signal X;15-Laser detection signal Y;16-PTP motion to home position;17-Motion interrupt, stop current motion based on signal; 18-Start main program;19-Start rewind;20-Start confirmation;21-Resume welding;22-Terminate welding;23-Clear error;24-Manual/Auto switch (high/low level); 25-Enable;26-Disable;27-Enable/Disable;28-Laser servo tracking start/stop signal;
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.34. Set Configurable CI Active State of the Control Box

Prototype	SetDIConfigLevel(config)
Description	Set configurable CI active state of the control box
Required Parameters	config: CI0-CI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.35. Get Configurable CI Active State of the Control Box

Prototype	GetDIConfigLevel()
Description	Get configurable CI active state of the control box
Required Parameters	config: CI0-CI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.36. Set Configurable CO Active State of the Control Box

Prototype	SetDOConfigLevel(config)
Description	Set configurable CO active state of the control box
Required Parameters	config: CO0-CO7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.37. Get Configurable CO Active State of the Control Box

Prototype	GetDOConfigLevel()
Description	Get configurable CO active state of the control box
Required Parameters	config: CO0-CO7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.38. Set Configurable CI Active State of the End-Effector

Prototype	SetToolDIConfigLevel(config)
Description	Set configurable CI active state of the end-effector
Required Parameters	config: CI0-CI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.39. Get Configurable CI Active State of the End-Effector

Prototype	GetToolDIConfigLevel()
Description	Get configurable CI active state of the end-effector
Required Parameters	config: CI0-CI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.40. Set Standard DI Active State of the Control Box

Prototype	SetStandardDILevel(config)
Description	Set standard DI active state of the control box
Required Parameters	config: DI0-DI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.41. Get Standard DI Active State of the Control Box

Prototype	GetStandardDILevel()
Description	Get standard DI active state of the control box
Required Parameters	config: DI0-DI7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.42. Set Standard DO Active State of the Control Box

Prototype	SetStandardDOLevel(config)
Description	Set standard DO active state of the control box
Required Parameters	config: DO0-DO7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.43. Get Standard DO Active State of the Control Box

Prototype	GetStandardDOLevel()
Description	Get standard DO active state of the control box
Required Parameters	config: DO0-DO7 port active state array; 0-active high; 1-active low
Default Parameters	None
Return Value	Error code Success-0 Failure-errcode

5.44. IO Configuration Related SDK Code Example

from time import sleep
import time
from fairino import Robot

# Establish connection with robot controller
robot = Robot.RPC('192.168.58.2')


def TestIOConfig(self):
    # Set and get DI configuration
    setDIConfig = [1, 2, 3, 4, 5, 6, 7, 8]
    getDIConfig = [0] * 8
    rtn = robot.SetDIConfig(setDIConfig)
    print(f"SetDIConfig rtn is {rtn}")
    rtn, getDIConfig = robot.GetDIConfig()
    print(f"GetDIConfig rtn is {rtn}, value is {getDIConfig[0]} {getDIConfig[1]} {getDIConfig[2]} {getDIConfig[3]} {getDIConfig[4]} {getDIConfig[5]} {getDIConfig[6]} {getDIConfig[7]}")

    # Set and get DO configuration
    setDOConfig = [9, 10, 11, 12, 13, 14, 15, 16]
    getDOConfig = [0] * 8
    rtn = robot.SetDOConfig(setDOConfig)
    print(f"SetDOConfig rtn is {rtn}")
    rtn, getDOConfig = robot.GetDOConfig()
    print(f"GetDOConfig rtn is {rtn}, value is {getDOConfig[0]} {getDOConfig[1]} {getDOConfig[2]} {getDOConfig[3]} {getDOConfig[4]} {getDOConfig[5]} {getDOConfig[6]} {getDOConfig[7]}")

    # Set and get tool DI configuration
    setToolDIConfig = [17, 18]
    getToolDIConfig = [0] * 2
    rtn = robot.SetToolDIConfig(setToolDIConfig)
    print(f"SetToolDIConfig rtn is {rtn}")
    rtn, getToolDIConfig = robot.GetToolDIConfig()
    print(f"GetToolDIConfig rtn is {rtn}, value is {getToolDIConfig[0]} {getToolDIConfig[1]}")

    # Set and get DI level configuration (0: active low, 1: active high)
    setDIConfigLevel = [1, 1, 1, 1, 0, 0, 0, 0]
    getDIConfigLevel = [0] * 8
    rtn = robot.SetDIConfigLevel(setDIConfigLevel)
    print(f"SetDIConfigLevel rtn is {rtn}")
    rtn, getDIConfigLevel = robot.GetDIConfigLevel()
    print(f"GetDIConfigLevel rtn is {rtn}, value is {getDIConfigLevel[0]} {getDIConfigLevel[1]} {getDIConfigLevel[2]} {getDIConfigLevel[3]} {getDIConfigLevel[4]} {getDIConfigLevel[5]} {getDIConfigLevel[6]} {getDIConfigLevel[7]}")

    # Set and get DO level configuration (0: active low, 1: active high)
    setDOConfigLevel = [0, 0, 0, 0, 1, 1, 1, 1]
    getDOConfigLevel = [0] * 8
    rtn = robot.SetDOConfigLevel(setDOConfigLevel)
    print(f"SetDOConfigLevel rtn is {rtn}")
    rtn, getDOConfigLevel = robot.GetDOConfigLevel()
    print(f"GetDOConfigLevel rtn is {rtn}, value is {getDOConfigLevel[0]} {getDOConfigLevel[1]} {getDOConfigLevel[2]} {getDOConfigLevel[3]} {getDOConfigLevel[4]} {getDOConfigLevel[5]} {getDOConfigLevel[6]} {getDOConfigLevel[7]}")

    # Set and get tool DI level configuration
    setToolDIConfigLevel = [1, 0]
    getToolDIConfigLevel = [0] * 2
    rtn = robot.SetToolDIConfigLevel(setToolDIConfigLevel)
    print(f"SetToolDIConfigLevel rtn is {rtn}")
    rtn, getToolDIConfigLevel = robot.GetToolDIConfigLevel()
    print(f"GetToolDIConfigLevel rtn is {rtn}, value is {getToolDIConfigLevel[0]} {getToolDIConfigLevel[1]}")

    # Set and get standard DI level configuration
    setStandardDILevel = [1, 1, 1, 1, 0, 0, 0, 0]
    getStandardDILevel = [0] * 8
    rtn = robot.SetStandardDILevel(setStandardDILevel)
    print(f"SetStandardDILevel rtn is {rtn}")
    rtn, getStandardDILevel = robot.GetStandardDILevel()
    print(f"GetStandardDILevel rtn is {rtn}, value is {getStandardDILevel[0]} {getStandardDILevel[1]} {getStandardDILevel[2]} {getStandardDILevel[3]} {getStandardDILevel[4]} {getStandardDILevel[5]} {getStandardDILevel[6]} {getStandardDILevel[7]}")

    # Set and get standard DO level configuration
    setStandardDOLevel = [0, 0, 0, 0, 1, 1, 1, 1]
    getStandardDOLevel = [0] * 8
    rtn = robot.SetStandardDOLevel(setStandardDOLevel)
    print(f"SetStandardDOLevel rtn is {rtn}")
    rtn, getStandardDOLevel = robot.GetStandardDOLevel()
    print(f"GetStandsrdDOLevel rtn is {rtn}, value is {getStandardDOLevel[0]} {getStandardDOLevel[1]} {getStandardDOLevel[2]} {getStandardDOLevel[3]} {getStandardDOLevel[4]} {getStandardDOLevel[5]} {getStandardDOLevel[6]} {getStandardDOLevel[7]}")

    # Wait 2 seconds
    time.sleep(2)

    # Close connection
    robot.CloseRPC()
    time.sleep(1)

# Call test function
TestIOConfig(robot)

5.45. Safety Dual-Channel CI Function Configuration

Prototype	SetSafetyDIConfig(self, ID, config)
Description	Safety dual-channel CI function configuration
Required Parameters	ID: Dual-channel ID; [0-3] config: Function configuration; 0-no configuration; 201-External emergency stop input signal 1; 202-External emergency stop input signal 2; 203-Level 1 reduced mode; 204-Level 2 reduced mode; 205-Level 3 reduced mode; 206-Normal stop; 207-Safety wall 1; 208-Safety wall 2; 209-Safety wall 3; 210-Safety wall 4; 211-Safety wall 5; 212-Safety wall 6; 213-Safety wall 7; 214-Safety wall 8; 215-Safety stop reset;
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error

5.46. Safety Dual-Channel CO Function Configuration

Prototype	SetSafetyDOConfig(self, ID, config)
Description	Safety dual-channel CO function configuration
Required Parameters	ID: Dual-channel ID; [0-3] config: Function configuration; 0-no configuration; 201-Emergency stop output signal 1; 202-Emergency stop output signal 2; 203-Safety status output; 204-Protective stop status output; 205-Robot in motion; 206-Robot reduced mode; 207-Robot non-reduced mode;
Default Parameters	None
Return Value	Error code, 0-success; non-zero-error

5.47. Safety Dual-Channel IO Function Configuration Code Example

from fairino import Robot
import time

def main():
    # Establish connection with the robot controller
    robot = Robot.RPC('192.168.58.2')
    time.sleep(0.5)  # Wait for connection and data reception

    print("========== Safety IO Config Test ==========")

    # ========== Set Safety DI Configuration ==========
    print("\n--- Set Safety DI Configuration ---")
    rtn = robot.SetSafetyDIConfig(0, 201)
    print(f"SetSafetyDIConfig(0, 201) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(1, 202)
    print(f"SetSafetyDIConfig(1, 202) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(2, 203)
    print(f"SetSafetyDIConfig(2, 203) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(3, 204)
    print(f"SetSafetyDIConfig(3, 204) rtn is {rtn}")

    # Get DI configuration
    rtn, getDIConfig = robot.GetDIConfig()
    print(f"GetDIConfig rtn is {rtn}, value is {getDIConfig[0]} {getDIConfig[1]} {getDIConfig[2]} {getDIConfig[3]} {getDIConfig[4]} {getDIConfig[5]} {getDIConfig[6]} {getDIConfig[7]}")

    # ========== Clear Safety DI Configuration ==========
    print("\n--- Clear Safety DI Configuration ---")
    rtn = robot.SetSafetyDIConfig(0, 0)
    print(f"SetSafetyDIConfig(0, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(1, 0)
    print(f"SetSafetyDIConfig(1, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(2, 0)
    print(f"SetSafetyDIConfig(2, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDIConfig(3, 0)
    print(f"SetSafetyDIConfig(3, 0) rtn is {rtn}")

    # Get DI configuration to verify clearance
    rtn, getDIConfig = robot.GetDIConfig()
    print(f"GetDIConfig rtn is {rtn}, value is {getDIConfig[0]} {getDIConfig[1]} {getDIConfig[2]} {getDIConfig[3]} {getDIConfig[4]} {getDIConfig[5]} {getDIConfig[6]} {getDIConfig[7]}")

    # ========== Set Safety DO Configuration ==========
    print("\n--- Set Safety DO Configuration ---")
    rtn = robot.SetSafetyDOConfig(0, 204)
    print(f"SetSafetyDOConfig(0, 204) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(1, 205)
    print(f"SetSafetyDOConfig(1, 205) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(2, 206)
    print(f"SetSafetyDOConfig(2, 206) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(3, 207)
    print(f"SetSafetyDOConfig(3, 207) rtn is {rtn}")

    # Get DO configuration
    rtn, getDOConfig = robot.GetDOConfig()
    print(f"GetDOConfig rtn is {rtn}, value is {getDOConfig[0]} {getDOConfig[1]} {getDOConfig[2]} {getDOConfig[3]} {getDOConfig[4]} {getDOConfig[5]} {getDOConfig[6]} {getDOConfig[7]}")

    # ========== Clear Safety DO Configuration ==========
    print("\n--- Clear Safety DO Configuration ---")
    rtn = robot.SetSafetyDOConfig(0, 0)
    print(f"SetSafetyDOConfig(0, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(1, 0)
    print(f"SetSafetyDOConfig(1, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(2, 0)
    print(f"SetSafetyDOConfig(2, 0) rtn is {rtn}")

    rtn = robot.SetSafetyDOConfig(3, 0)
    print(f"SetSafetyDOConfig(3, 0) rtn is {rtn}")

    # Get DO configuration to verify clearance
    rtn, getDOConfig = robot.GetDOConfig()
    print(f"GetDOConfig rtn is {rtn}, value is {getDOConfig[0]} {getDOConfig[1]} {getDOConfig[2]} {getDOConfig[3]} {getDOConfig[4]} {getDOConfig[5]} {getDOConfig[6]} {getDOConfig[7]}")

    time.sleep(2)

    # Close connection
    robot.CloseRPC()
    time.sleep(1)

    print("\n========== Test Complete ==========")


if __name__ == "__main__":
    main()