Robot IO
========================

.. toctree:: 
    :maxdepth: 5

Set control box digital output
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Set control box digital output
    * @param  [in] id  IO number, range [0~15]
    * @param  [in] status 0-off, 1-on
    * @param  [in] smooth 0-no smoothing, 1-smoothing
    * @param  [in] block  0-blocking, 1-non-blocking
    * @return  Error code
    */
    int SetDO(int id, int status, int smooth, int block); 

Set tool digital output
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Set tool digital output
    * @param  [in] id  IO number, range [0~1]
    * @param  [in] status 0-off, 1-on
    * @param  [in] smooth 0-no smoothing, 1-smoothing
    * @param  [in] block  0-blocking, 1-non-blocking
    * @return  Error code
    */
    int SetToolDO(int id, int status, int smooth, int block); 

Set control box analog output
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Set control box analog output
    * @param  [in] id  IO number, range [0~1]
    * @param  [in] value Current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @return  Error code
    */
    int SetAO(int id, double value, int block); 

Set tool analog output
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Set tool analog output
    * @param  [in] id  IO number, range [0]
    * @param  [in] value Current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @return  Error code
    */
    int SetToolAO(int id, double value, int block); 

Digital and analog output setting example
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.. code-block:: Java
    :linenos:

    public static int TestAODO(Robot robot)
    {
        int status = 1;
        int smooth = 0;
        int block = 0;

        for (int i = 0; i < 16; i++)
        {
            robot.SetDO(i, status, smooth, block);
            robot.Sleep(300);
        }

        status = 0;

        for (int i = 0; i < 16; i++)
        {
            robot.SetDO(i, status, smooth, block);
            robot.Sleep(300);
        }

        status = 1;

        for (int i = 0; i < 2; i++)
        {
            robot.SetToolDO(i, status, smooth, block);
            robot.Sleep(1000);
        }

        status = 0;

        for (int i = 0; i < 2; i++)
        {
            robot.SetToolDO(i, status, smooth, block);
            robot.Sleep(1000);
        }

        for (int i = 0; i < 100; i++)
        {
            robot.SetAO(0, i, block);
            robot.Sleep(30);
        }

        for (int i = 0; i < 100; i++)
        {
            robot.SetToolAO(0, i, block);
            robot.Sleep(30);
        }

        robot.CloseRPC();
        return 0;
    }

Get control box digital input
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get control box digital input
    * @param  [in] id  IO number, range [0~15]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @param  [out] level  0-low level, 1-high level
    * @return  Error code
    */   
    int GetDI(int id, int block, int[] level);

Get tool digital input
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get tool digital input
    * @param  [in] id    IO number, range [0~1]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @param  [out] level 0-low level, 1-high level
    * @return  Error code
    */   
    int GetToolDI(int id, int block, int[] level);

Get control box analog input
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get control box analog input
    * @param  [in] id  IO number, range [0~1]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @param  [out] persent Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @return  Error code
    */   
    int GetAI(int id, int block, double[] persent)

Get tool analog input
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get tool analog input
    * @param  [in] id  IO number, range [0]
    * @param  [in] block  0-blocking, 1-non-blocking
    * @param  [out] persent Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @return  Error code
    */   
    int GetToolAI(int id, int block, double[] persent)

Get robot end-point record button state
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get robot end-point record button state
    * @param  [out] state Button state, 0-pressed, 1-released
    * @return  Error code
    */   
    int GetAxlePointRecordBtnState(int[] state)

Get robot end DO output state
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get robot end DO output state
    * @param  [out] do_state DO output state, do0~do1 corresponds to bit1~bit2, starting from bit0
    * @return  Error code
    */   
    int GetToolDO(int[] do_state)

Get robot controller DO output state
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.. code-block:: Java
    :linenos:

    /**
    * @brief  Get robot controller DO output state
    * @param  [out] do_state_h DO output state, co0~co7 corresponds to bit0~bit7
    * @param  [out] do_state_l DO output state, do0~do7 corresponds to bit0~bit7
    * @return  Error code
    */   
    int GetDO(int[] do_state_h, int[] do_state_l)

Get robot DI/DO state example
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.. code-block:: Java
    :linenos:

    public static int TestGetDIAI(Robot robot)
    {
        int status = 1;
        int smooth = 0;
        int block = 0;
        int[] di =new int[]{0}, tool_di =new int[] {0};
        double[] ai =new double[] {0}, tool_ai = new double[]{0};
        double value = 0.0;

        robot.GetDI(0, block, di);
        System.out.println("di0:"+di[0]);

        robot.GetToolDI(1, block, tool_di);
        System.out.println("tool_di1:"+ tool_di[0]);

        robot.GetAI(0, block, ai);
        System.out.println("ai0:"+ ai[0]);

        robot.GetToolAI(0, block, tool_ai);
        System.out.println("tool_ai0:"+ tool_ai[0]);

        int[] _button_state=new int[]{0};
        robot.GetAxlePointRecordBtnState(_button_state);
        System.out.println("_button_state is: "+ _button_state[0]);

        int[] tool_do_state=new int[]{0};
        robot.GetToolDO(tool_do_state);
        System.out.println("tool DO state is: "+ tool_do_state[0]);

        int[] do_state_h=new int[]{0};
        int[] do_state_l=new int[]{0};
        robot.GetDO(do_state_h, do_state_l);
        System.out.println("DO state high is: "+do_state_h[0]+", DO state low is: "+ do_state_l[0]);

        return 0;
    }

Wait for control box digital input
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.. code-block:: Java
    :linenos:

    /**
    * @brief Wait for control box digital input
    * @param  [in]  id  IO number, range [0~15]
    * @param  [in]  status 0-off, 1-on
    * @param  [in]  max_time  Maximum wait time in ms
    * @param  [in]  opt  Timeout strategy, 0-program stops and prompts timeout, 1-ignore timeout and continue, 2-wait indefinitely
    * @return  Error code
    */
    int WaitDI(int id, int status, int max_time, int opt); 

Wait for multiple control box digital inputs
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.. code-block:: Java
    :linenos:

    /**
    * @brief Wait for multiple control box digital inputs
    * @param  [in] mode 0-multi AND, 1-multi OR
    * @param  [in] id  IO number, bit0~bit7 corresponds to DI0~DI7, bit8~bit15 corresponds to CI0~CI7
    * @param  [in] status 0-off, 1-on
    * @param  [in] max_time  Maximum wait time in ms
    * @param  [in] opt  Timeout strategy, 0-program stops and prompts timeout, 1-ignore timeout and continue, 2-wait indefinitely
    * @return  Error code
    */
    int WaitMultiDI(int mode, int id, int status, int max_time, int opt); 

Wait for tool digital input
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.. code-block:: Java
    :linenos:

    /**
    * @brief Wait for tool digital input
    * @param  [in]  id  IO number, range [0~1]
    * @param  [in]  status 0-off, 1-on
    * @param  [in]  max_time  Maximum wait time in ms
    * @param  [in]  opt  Timeout strategy, 0-program stops and prompts timeout, 1-ignore timeout and continue, 2-wait indefinitely
    * @return  Error code
    */
    int WaitToolDI(int id, int status, int max_time, int opt); 

Wait for control box analog input
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.. code-block:: Java
    :linenos:

    /**
    * @brief Wait for control box analog input
    * @param  [in]  id  IO number, range [0~1]
    * @param  [in]  sign 0-greater than, 1-less than
    * @param  [in]  value Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @param  [in]  max_time  Maximum wait time in ms
    * @param  [in]  opt  Timeout strategy, 0-program stops and prompts timeout, 1-ignore timeout and continue, 2-wait indefinitely
    * @return  Error code
    */
    int WaitAI(int id, int sign, double value, int max_time, int opt);   

Wait for tool analog input
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.. code-block:: Java
    :linenos:

    /**
    * @brief Wait for tool analog input
    * @param  [in]  id  IO number, range [0]
    * @param  [in]  sign 0-greater than, 1-less than
    * @param  [in]  value Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
    * @param  [in]  max_time  Maximum wait time in ms
    * @param  [in]  opt  Timeout strategy, 0-program stops and prompts timeout, 1-ignore timeout and continue, 2-wait indefinitely
    * @return  Error code
    */
    int WaitToolAI(int id, int sign, double value, int max_time, int opt); 

Wait for digital/analog input signal example
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.. code-block:: Java
    :linenos:

    public static int TestWaitDIAI(Robot robot)
    {
        int rtn=-1;

        int status = 1;
        int smooth = 0;
        int block = 0;
        int di = 0, tool_di = 0;
        double ai = 0.0, tool_ai = 0.0;
        double value = 0.0;

        rtn = robot.WaitDI(0, 1, 1000, 1);
        System.out.println("WaitDI over; rtn is: "+ rtn);

        robot.WaitMultiDI(1, 3, 3, 1000, 1);
        System.out.println("WaitDI over; rtn is: "+ rtn);

        robot.WaitToolDI(1, 1, 1000, 1);
        System.out.println("WaitDI over; rtn is: " + rtn);

        robot.WaitAI(0, 0, 50, 1000, 1);
        System.out.println("WaitDI over; rtn is: " + rtn);

        robot.WaitToolAI(0, 0, 50, 1000, 1);
        System.out.println("WaitDI over; rtn is: " + rtn);
        return 0;
    }

Set Whether Control Box DO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether control box DO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetCtlBoxDO(int resetFlag, int reloadFlag)

Set Whether Control Box AO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether control box AO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetCtlBoxAO(int resetFlag, int reloadFlag)

Set Whether End Tool DO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether end tool DO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetAxleDO(int resetFlag, int reloadFlag)

Set Whether End Tool AO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether end tool AO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetAxleAO(int resetFlag, int reloadFlag)
    
Set Whether Extended DO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether extended DO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetExtDO(int resetFlag, int reloadFlag)
    
Set Whether Extended AO Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether extended AO output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetExtAO(int resetFlag, int reloadFlag)

Set Whether SmartTool Output Resets After Stop/Pause
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set whether SmartTool output resets after stop/pause
    * @param resetFlag 0-Do not reset; 1-Reset
    * @param reloadFlag Whether to reload after pause resume, 0-Do not load; 1-Load
    * @return Error code
    */
    public int SetOutputResetSmartToolDO(int resetFlag, int reloadFlag)

Code Example for Setting Output Reset After Lua Program Stop/Pause
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.. code-block:: Java
    :linenos:

    public static void TestDOReset(Robot robot)
    {
        for (int i = 0; i < 16; i++)
        {
            robot.SetDO(i, 1, 0, 0);
            robot.Sleep(200);
        }
        int resetFlag = 1;
        int resumeReloadFlag = 1;
        int 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("/fruser/test.lua");
        robot.ProgramRun();
        robot.Sleep(2000);
        robot.PauseMotion();
        robot.Sleep(2000);
        robot.ResumeMotion();
        robot.Sleep(2000);
        robot.CloseRPC();
    }

Set Configurable CI Port Functions of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable CI port functions of the control box
    * @param config CI0-CI7 function codes;
    * 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
    * @return Error code
    */
    public int SetDIConfig(int[] config)

Get Configurable CI Port Functions of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable CI port functions of the control box
    * @param config CI0-CI7 function codes;
    * 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
    * @return Error code
    */
    public int GetDIConfig(int[] config)

Set Configurable CO Port Functions of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable CO port functions of the control box
    * @param config CO0-CO7 function codes;
    * 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;
    * @return Error code
    */
    public int SetDOConfig(int[] config)

Get Configurable CO Port Functions of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable CO port functions of the control box
    * @param config CO0-CO7 function codes;
    * 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;
    * @return Error code
    */
    public int GetDOConfig(int[] config)

Set Configurable End-CI Port Functions of the End-Effector
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable End-CI port functions of the end-effector
    * @param config End CI0-CI1 function codes;
    * 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;
    * @return Error code
    */
    public int SetToolDIConfig(int[] config)

Get Configurable End-CI Port Functions of the End-Effector
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.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable End-CI port functions of the end-effector
    * @param config End CI0-CI1 function codes;
    * 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;
    * @return Error code
    */
    public int GetToolDIConfig(int[] config)
    
Set Configurable CI Active State of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable CI active state of the control box
    * @param config CI0-CI7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int SetDIConfigLevel(int[] config)
        
Get Configurable CI Active State of the Control Box
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.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable CI active state of the control box
    * @param config CI0-CI7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int GetDIConfigLevel(int[] config)
        
Set Configurable CO Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable CO active state of the control box
    * @param config CO0-CO7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int SetDOConfigLevel(int[] config)

Get Configurable CO Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable CO active state of the control box
    * @param config CO0-CO7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int GetDOConfigLevel(int[] config)
    
Set Configurable CI Active State of the End-Effector
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Set configurable CI active state of the end-effector
    * @param config CI0-CI1 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int SetToolDIConfigLevel(int[] config)
    
Get Configurable CI Active State of the End-Effector
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Get configurable CI active state of the end-effector
    * @param config CI0-CI1 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int GetToolDIConfigLevel(int[] config)
    
Set Standard DI Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Set standard DI active state of the control box
    * @param config DI0-DI7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int SetStandardDILevel(int[] config)
    
Get Standard DI Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Get standard DI active state of the control box
    * @param config DI0-DI7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int GetStandardDILevel(int[] config)

Set Standard DO Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Set standard DO active state of the control box
    * @param config DO0-DO7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int SetStandardDOLevel(int[] config)
    
Get Standard DO Active State of the Control Box
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    /**
    * @brief Get standard DO active state of the control box
    * @param config DO0-DO7 port active state; 0-active high; 1-active low
    * @return Error code
    */
    public int GetStandardDOLevel(int[] config)
        
Robot IO Configuration Code Example
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    
.. code-block:: Java
    :linenos:

    public static int TestIOConfig(Robot robot) {
        int[] setDIConfig = new int[]{1, 2, 3, 4, 5, 6, 7, 8};
        int[] getDIConfig = new int[8];
        int rtn = robot.SetDIConfig(setDIConfig);
        System.out.println("SetDIConfig rtn is " + rtn);
        rtn = robot.GetDIConfig(getDIConfig);
        System.out.println("GetDIConfig rtn is " + rtn + ", value is " + 
            getDIConfig[0] + " " + getDIConfig[1] + " " + getDIConfig[2] + " " + getDIConfig[3] + " " + 
            getDIConfig[4] + " " + getDIConfig[5] + " " + getDIConfig[6] + " " + getDIConfig[7]);

        int[] setDOConfig = new int[]{9, 10, 11, 12, 13, 14, 15, 16};
        int[] getDOConfig = new int[8];
        rtn = robot.SetDOConfig(setDOConfig);
        System.out.println("SetDOConfig rtn is " + rtn);
        rtn = robot.GetDOConfig(getDOConfig);
        System.out.println("GetDOConfig rtn is " + rtn + ", value is " + 
            getDOConfig[0] + " " + getDOConfig[1] + " " + getDOConfig[2] + " " + getDOConfig[3] + " " + 
            getDOConfig[4] + " " + getDOConfig[5] + " " + getDOConfig[6] + " " + getDOConfig[7]);

        int[] setToolDIConfig = new int[]{17, 18};
        int[] getToolDIConfig = new int[2];
        rtn = robot.SetToolDIConfig(setToolDIConfig);
        System.out.println("SetToolDIConfig rtn is " + rtn);
        rtn = robot.GetToolDIConfig(getToolDIConfig);
        System.out.println("GetToolDIConfig rtn is " + rtn + ", value is " + getToolDIConfig[0] + " " + getToolDIConfig[1]);

        int[] setDIConfigLevel = new int[]{1, 1, 1, 1, 0, 0, 0, 0};
        int[] getDIConfigLevel = new int[8];
        rtn = robot.SetDIConfigLevel(setDIConfigLevel);
        System.out.println("SetDIConfigLevel rtn is " + rtn);
        rtn = robot.GetDIConfigLevel(getDIConfigLevel);
        System.out.println("GetDIConfigLevel rtn is " + rtn + ", value is " + 
            getDIConfigLevel[0] + " " + getDIConfigLevel[1] + " " + getDIConfigLevel[2] + " " + getDIConfigLevel[3] + " " + 
            getDIConfigLevel[4] + " " + getDIConfigLevel[5] + " " + getDIConfigLevel[6] + " " + getDIConfigLevel[7]);

        int[] setDOConfigLevel = new int[]{0, 0, 0, 0, 1, 1, 1, 1};
        int[] getDOConfigLevel = new int[8];
        rtn = robot.SetDOConfigLevel(setDOConfigLevel);
        System.out.println("SetDOConfigLevel rtn is " + rtn);
        rtn = robot.GetDOConfigLevel(getDOConfigLevel);
        System.out.println("GetDOConfigLevel rtn is " + rtn + ", value is " + 
            getDOConfigLevel[0] + " " + getDOConfigLevel[1] + " " + getDOConfigLevel[2] + " " + getDOConfigLevel[3] + " " + 
            getDOConfigLevel[4] + " " + getDOConfigLevel[5] + " " + getDOConfigLevel[6] + " " + getDOConfigLevel[7]);

        int[] setToolDIConfigLevel = new int[]{1, 0};
        int[] getToolDIConfigLevel = new int[2];
        rtn = robot.SetToolDIConfigLevel(setToolDIConfigLevel);
        System.out.println("SetToolDIConfigLevel rtn is " + rtn);
        rtn = robot.GetToolDIConfigLevel(getToolDIConfigLevel);
        System.out.println("GetToolDIConfigLevel rtn is " + rtn + ", value is " + getToolDIConfigLevel[0] + " " + getToolDIConfigLevel[1]);

        int[] setStandardDILevel = new int[]{1, 1, 1, 1, 0, 0, 0, 0};
        int[] getStandardDILevel = new int[8];
        rtn = robot.SetStandardDILevel(setStandardDILevel);
        System.out.println("SetStandardDILevel rtn is " + rtn);
        rtn = robot.GetStandardDILevel(getStandardDILevel);
        System.out.println("GetStandardDILevel rtn is " + rtn + ", value is " + 
            getStandardDILevel[0] + " " + getStandardDILevel[1] + " " + getStandardDILevel[2] + " " + getStandardDILevel[3] + " " + 
            getStandardDILevel[4] + " " + getStandardDILevel[5] + " " + getStandardDILevel[6] + " " + getStandardDILevel[7]);

        int[] setStandardDOLevel = new int[]{0, 0, 0, 0, 1, 1, 1, 1};
        int[] getStandardDOLevel = new int[8];
        rtn = robot.SetStandardDOLevel(setStandardDOLevel);
        System.out.println("SetStandardDOLevel rtn is " + rtn);
        rtn = robot.GetStandardDOLevel(getStandardDOLevel);
        System.out.println("GetStandardDOLevel rtn is " + rtn + ", value is " + 
            getStandardDOLevel[0] + " " + getStandardDOLevel[1] + " " + getStandardDOLevel[2] + " " + getStandardDOLevel[3] + " " + 
            getStandardDOLevel[4] + " " + getStandardDOLevel[5] + " " + getStandardDOLevel[6] + " " + getStandardDOLevel[7]);

        robot.Sleep(2000);
        return 0;
    }