Unified I/O. Introduced at SW 10.15 and 5.26. Backward compatible with all previous SW and HW versions.

The unified I/O functions use string labels instead of numeric constants. For example, control box configurable digital input 0 is read with io_get("CB_CI0") instead of get_configurable_digital_in(0).

Some labels are not available on all hardware revisions. A runtime exception occurs when the specified label is unavailable on the current hardware revision.

Control box I/O (CB5)

Labels	Description
CB_DI0 – CB_DI7	Digital inputs
CB_CI0 – CB_CI7	Digital inputs configurable for safety functions
CB_DO0 – CB_DO7	Digital outputs
CB_CO0 – CB_CO7	Digital outputs configurable for safety functions
CB_DI8 – CB_DI11	Digital inputs with high-speed encoder input functions
CB_AI0, CB_AI1	Analog inputs
CB_AO0, CB_AO1	Analog outputs

Control box I/O (CB7 / g-Series)

Labels	Description
CB_CI0 – CB_CI15	Digital inputs configurable for safety functions
CB_CO0 – CB_CO15	Digital outputs configurable for safety functions
CB_DI0 – CB_DI3	Digital inputs with high-speed encoder input functions
CB_AI0, CB_AI1	Analog inputs
CB_AO0, CB_AO1	Analog outputs

Standard tool flange I/O and power

The tool flange has one M8 connector. Some pins can be configured for alternative functions; refer to the robot arm user manual.

Labels	Description
T0_CI0, T0_CI1	Digital inputs. Inputs can be configured for the Safe freedrive function on a supported robot arm.
T0_DO0, T0_DO1	Digital outputs
T0_AI0, T0_AI1	Analog inputs
T0_V	Power output

Performance tool flange I/O and power (g-Series)

The performance tool flange has four connectors. Each connector is identified with a prefix:

• T0 – M8 8-pin connector (same as the standard tool flange)
• T1 – pogo pin connector for Smart Panel
• T2 – M8 4-pin connector with power output only
• T3 – Industrial Ethernet connector

Labels	Description
T0_CI0, T0_CI1	Digital inputs. Inputs can be configured for Safe freedrive on a supported robot arm.
T0_DO0, T0_DO1	Digital outputs
T0_AI0, T0_AI1	Analog inputs. Source text also describes set vs read scaling (fraction 0.0–1.0 when set; 0.002–0.04 for mA and 0.0–10.0 for V when read). Confirm whether this belongs on analog inputs or analog outputs.
T0_V	Power output
T1_DI0, T1_DI1, T1_DI2	Digital inputs (Smart Panel)
T1_CI0, T1_CI1	Digital inputs. Inputs can be configured for Safe freedrive on a supported robot arm.
T1_DO0 – T1_DO3	Digital outputs (Smart Panel LED is T1_DO0)
T1_CONNECTED	When True, Smart Panel is connected and power is applied to T1 I/O
T2_V	Power output on the 4-pin M8 connector

See also io_get(alias) and io_set(alias, value).