3.7 IoSignals IO Class

Overview

Signals handles single-point and batch IO read/write operations. After Arm is connected, access the instance through arm.ioSignals ; no separate initialization is required. The SDK groups digital signals, group signals, and analog signals under SignalType .

Supported Scope

Interface	Supported Scope
`Read`	Supports all `SignalType` values
`Write` integer overload	Supports only `DO` , `RO` , `GO` , `TDO`
`Write` floating-point overload	Supports only `AO`
`MultiRead`	Supports only `DO`
`MultiWrite`	Supports only `DO`

Port Number Scope

Pass the controller-side port number.

3.7.1 Read Single IO

cpp

Read(SignalType type, int32_t index) -> std::pair<Float64, STATUS_CODE>

Item	Description
Description	Reads one IO channel. Digital, group, and analog signals all return `Float64`
Request Parameters	`type` : SignalType signal type (DI/DO/UI/UO/RI/RO/GI/GO/TAI/TDI/TDO/AI/AO) `index` : int32_t port number
Return Value	Float64: value read from the signal STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.7.2 Write Single Digital Signal

cpp

Write(SignalType type, int32_t index, int32_t value) -> STATUS_CODE

Item	Description
Description	Writes one digital signal or integer group signal
Request Parameters	`type` : SignalType signal type (only DO/RO/GO/TDO are supported) `index` : int32_t port number `value` : int32_t value to write
Return Value	STATUS_CODE: function execution result
Notes	Unsupported signal types return `UNSUPPORTED_SIGNAL_TYPE`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.7.3 Write Single Analog Signal

cpp

Write(SignalType type, int32_t index, Float64 value) -> STATUS_CODE

Item	Description
Description	Writes one analog signal; only used for `AO`
Request Parameters	`type` : SignalType signal type (only AO is supported) `index` : int32_t port number `value` : Float64 value to write
Return Value	STATUS_CODE: function execution result
Notes	Unsupported signal types return `UNSUPPORTED_SIGNAL_TYPE`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.7.4 Batch Read

cpp

MultiRead(SignalType type, const std::vector<int32_t>& portList) -> std::pair<std::vector<int32_t>, STATUS_CODE>

Item	Description
Description	Batch-reads IO; only `DO` is supported
Request Parameters	`type` : SignalType signal type (only DO is supported) `portList` : std::vector<int32_t> port number list
Return Value	std::vector<int32_t>: values read, in the same order as `portList` STATUS_CODE: function execution result
Notes	Unsupported signal types return `UNSUPPORTED_SIGNAL_TYPE` ; an empty `portList` returns `INVALID_PARAMETER`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

3.7.5 Batch Write

cpp

MultiWrite(SignalType type, const std::vector<int32_t>& ioList) -> STATUS_CODE

Item	Description
Description	Batch-writes IO. The flat parameter format is `[port1, value1, port2, value2, ...]` ; only `DO` is supported
Request Parameters	`type` : SignalType signal type (only DO is supported) `ioList` : std::vector<int32_t> flattened port/value list
Return Value	STATUS_CODE: function execution result
Notes	Unsupported signal types return `UNSUPPORTED_SIGNAL_TYPE` ; an empty `ioList` or an odd number of elements returns `INVALID_PARAMETER`
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Flat Parameter Format

ioList alternates port numbers and values:

cpp

// Write DO[0]=1, DO[1]=0, DO[2]=1
std::vector<int32_t> ioList = {0, 1, 1, 0, 2, 1};
// Equivalent to [port0, value0, port1, value1, port2, value2]

3.7.6 Trigger IO at Time Intervals

cpp

TriggerIOWithIntervals(int32_t inPort, const std::vector<int32_t>& intervals, const std::vector<int32_t>& outPorts, int32_t pulseDuration) -> STATUS_CODE

Item	Description
Description	After the input is triggered, drives multiple output ports at the specified intervals
Request Parameters	`inPort` : int32_t input port number `intervals` : std::vector<int32_t> trigger interval list, in milliseconds `outPorts` : std::vector<int32_t> output port number list `pulseDuration` : int32_t pulse duration, in milliseconds
Return Value	STATUS_CODE: function execution result
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Parameter Constraints

intervals must not be empty.
outPorts must not be empty.
pulseDuration must be greater than 0 .

Trigger Logic

When the specified input port inPort is triggered, the output ports in outPorts are driven in sequence according to the intervals defined in intervals . Each output pulse lasts pulseDuration milliseconds.

Minimal Call Example

cpp

#include <iostream>      // Standard output stream for printing IO read results
#include <vector>        // std::vector for batch IO port lists
#include "arm_api.h"    // Arm entry point; after connection, signal APIs are accessed through arm.ioSignals
#include "status_code.h" // STATUS_CODE for checking SDK call results

int main()
{
    Arm arm;
    STATUS_CODE connectRet = arm.Connect("192.168.110.2", "");
    if (connectRet != STATUS_CODE::OK) {
        return 1;
    }

    auto [di0, diRet] = arm.ioSignals.Read(SignalType::DI, 0);
    if (diRet != STATUS_CODE::OK) {
        return 1;
    }
    std::cout << "DI[0]=" << di0 << "\n";

    auto [doBatch, multiRet] = arm.ioSignals.MultiRead(
        SignalType::DO,
        std::vector<int32_t>{0, 1, 2}
    );
    if (multiRet != STATUS_CODE::OK) {
        return 1;
    }
    std::cout << "batch_count=" << doBatch.size() << "\n";

    // STATUS_CODE writeRet = arm.ioSignals.Write(SignalType::DO, 0, 1);
    // STATUS_CODE multiWriteRet = arm.ioSignals.MultiWrite(
    //     SignalType::DO,
    //     std::vector<int32_t>{0, 1, 1, 0, 2, 1}
    // );
    return 0;
}

Scenario Examples

The snippets below cover read, write, and pulse-trigger scenarios. They assume the arm object from the minimal example is already connected. Writing IO or triggering IO changes controller outputs; run these calls only after checking the site conditions.

Read Single and Batch IO

cpp

auto [singleValue, readRet] = arm.ioSignals.Read(SignalType::DI, 0);
auto [batchValues, multiReadRet] = arm.ioSignals.MultiRead(SignalType::DO, std::vector<int32_t>{0, 1, 2});
if (readRet == STATUS_CODE::OK && multiReadRet == STATUS_CODE::OK) {
    std::cout << "DI[0]=" << singleValue << " batch_count=" << batchValues.size() << "\n";
}

Write Digital and Analog Signals

cpp

// STATUS_CODE writeIntRet = arm.ioSignals.Write(SignalType::DO, 0, 1);
// STATUS_CODE writeFloatRet = arm.ioSignals.Write(SignalType::AO, 0, Float64{1.0});
// STATUS_CODE multiWriteRet = arm.ioSignals.MultiWrite(SignalType::DO, std::vector<int32_t>{0, 1, 1, 0});

Trigger IO at Time Intervals

cpp

std::vector<int32_t> intervals = {100, 200};
std::vector<int32_t> values = {0, 1};
// STATUS_CODE triggerRet = arm.ioSignals.TriggerIOWithIntervals(0, intervals, values, 50);

Example code:

cpp17/signals_basic/src/main.cpp

cpp

#include "query_signals/run.h"
#include "write_signals/run.h"

int main(void)
{
    // [ZH] 默认只调用一个门面方法；如需体验其他接口，请把下一行替换成下面任意一行。
    // [EN] The main function calls only one facade by default. Replace the next line with any line below to try other APIs.
    return RunSignalsBasicQuerySignals();
    // return RunSignalsBasicWriteSignals();
}

c99/signals_basic/src/main.cpp

cpp

#include <stdio.h>

extern "C" {
#include "c_arm_api.h"
}

int main(void)
{
    // [ZH] 本示例直接在源码中写死连接地址，不解析命令行参数。
    // [EN] This example hard-codes the connection addresses in the source code and does not parse command-line arguments.
    // [ZH] 创建并连接 SDK 句柄。
    // [EN] Create the SDK handle and connect to the robot.
    ArmHandle* handle = Arm_Create();
    if (handle == NULL) {
        printf("[c99_signals] 创建句柄失败 / Failed to create the handle\n");
        return 1;
    }
    int ret = Arm_Connect(handle, "10.27.1.2", "10.27.1.102");
    if (ret != 0) {
        printf("[c99_signals] 连接失败 / Connect failed, 状态码 / Status code: %d\n", ret);
        Arm_Destroy(handle);
        return 1;
    }
    printf("[c99_signals] 机器人连接成功 / Robot connected successfully\n");

    // [ZH] 读取单路信号与批量信号。
    // [EN] Read a single signal and a batch of signals.
    double diValue = 0.0;
    int ports[2] = {0, 1};
    int values[2] = {0, 0};
    size_t outCount = 0U;
    ret = Arm_Signals_Read(handle, ARM_SIGNAL_DI, 0, &diValue);
    printf("[c99_signals] Read 状态码 / Read status code: %d, DI[0]=%.6f\n", ret, diValue);
    ret = Arm_Signals_MultiRead(handle, ARM_SIGNAL_DI, ports, 2U, values, 2U, &outCount);
    printf("[c99_signals] MultiRead 状态码 / MultiRead status code: %d, 数量 / Count: %zu, 值 / Values: [%d, %d]\n",
        ret,
        outCount,
        values[0],
        values[1]);

    // [ZH] 顺序执行全部写接口。
    // [EN] Execute all write APIs in sequence.
    ret = Arm_Signals_WriteInt(handle, ARM_SIGNAL_DO, 1, 1);
    printf("[c99_signals] WriteInt 状态码 / WriteInt status code: %d\n", ret);
    ret = Arm_Signals_WriteFloat(handle, ARM_SIGNAL_AO, 1, 1.5);
    printf("[c99_signals] WriteFloat 状态码 / WriteFloat status code: %d\n", ret);
    int ioList[4] = {4, 1, 6, 0};
    ret = Arm_Signals_MultiWrite(handle, ARM_SIGNAL_DO, ioList, 4U);
    printf("[c99_signals] MultiWrite 状态码 / MultiWrite status code: %d\n", ret);
    int intervals[2] = {100, 200};
    int outPorts[2] = {4, 5};
    ret = Arm_Signals_TriggerIOWithIntervals(handle, 1, intervals, 2U, outPorts, 2U, 60);
    printf("[c99_signals] TriggerIOWithIntervals 状态码 / TriggerIOWithIntervals status code: %d\n", ret);

    // [ZH] 断开连接并销毁句柄。
    // [EN] Disconnect and destroy the handle.
    Arm_Disconnect(handle);
    Arm_Destroy(handle);
    printf("[c99_signals] 示例结束 / Example finished\n");
    return 0;
}

1 Overview and Setup

2 Data Structures

3 Methods

4 C99 API

6 Other Language Integration

3.7 IoSignals IO Class

Overview

Supported Scope

Port Number Scope

3.7.1 Read Single IO

3.7.2 Write Single Digital Signal

3.7.3 Write Single Analog Signal

3.7.4 Batch Read

3.7.5 Batch Write

Flat Parameter Format

3.7.6 Trigger IO at Time Intervals

Parameter Constraints

Trigger Logic

Minimal Call Example

Scenario Examples

Read Single and Batch IO

Write Digital and Analog Signals

Trigger IO at Time Intervals

3.7 IoSignals IO Class ​

Overview ​

Supported Scope ​

Port Number Scope ​

3.7.1 Read Single IO ​

3.7.2 Write Single Digital Signal ​

3.7.3 Write Single Analog Signal ​

3.7.4 Batch Read ​

3.7.5 Batch Write ​

Flat Parameter Format ​

3.7.6 Trigger IO at Time Intervals ​

Parameter Constraints ​

Trigger Logic ​

Minimal Call Example ​

Scenario Examples ​

Read Single and Batch IO ​

Write Digital and Analog Signals ​

Trigger IO at Time Intervals ​

3.7 IoSignals IO Class

Overview

Supported Scope

Port Number Scope

3.7.1 Read Single IO

3.7.2 Write Single Digital Signal

3.7.3 Write Single Analog Signal

3.7.4 Batch Read

3.7.5 Batch Write

Flat Parameter Format

3.7.6 Trigger IO at Time Intervals

Parameter Constraints

Trigger Logic

Minimal Call Example

Scenario Examples

Read Single and Batch IO

Write Digital and Analog Signals

Trigger IO at Time Intervals