Python 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