4.5 IO Signals

Overview

The Signals class provides a unified read/write interface for controller I/O, including:

Digital/analog input and output operations
Batch I/O operations

With Signals , you can:

Read current signal states
Batch write DO/RO/GO ports
Integrate grippers, sensors, and production-line devices

4.5.1 Reading the Value of a Specified Type and Port IO

Method Name	Signals.Read(SignalType `type` , int `index` )
Description	Reads the IO value of the specified type and port (supports DI/DO/UI/UO/RI/RO/GI/GO/TAI/TDI/TDO/AI/AO).
Request Parameters	`type` : SignalType IO type to read `index` : int IO port index, starting from 1
Return Value	int: IO value, 1 represents high level, 0 represents low level StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	UI/UO can only be read, not written

Example Code

Signals/ReadSignal.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class ReadSignal
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置IO信号类型和索引
            // [EN] Set IO signal type and index
            SignalType type = SignalType.DI;
            int index = 1;

            // [ZH] 读取指定类型指定端口IO的值
            // [EN] Read specified type and port IO value
            int res;
            (res, code) = controller.Signals.Read(type, index);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("读取IO信号成功/Read Signal Success");
                Console.WriteLine($"{type}：{index} 的值为/has value {res}");
                Console.WriteLine($"信号状态/Signal Status: {(res == 1 ? "高电平/High Level" : "低电平/Low Level")}");
            }
            else
            {
                Console.WriteLine($"读取IO信号失败/Read Signal Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.5.2 Writing the Value of a Specified Type and Port IO

Method Name	Signals.Write(SignalType `type` , int `index` , double `value` )
Description	Writes the IO value of the specified type and port, currently only supports DO/RO/GO/TDO/AO.
Request Parameters	`type` : SignalType IO type to write `index` : int IO port index, starting from 1 `value` : double IO value (DO/RO/TDO only allow 0 or 1; GO is integer; AO is floating-point analog)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	UI/UO can only be read, not written

Example Code

Signals/WriteSignal.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class WriteSignal
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 设置IO信号类型、索引和值
            // [EN] Set IO signal type, index and value
            SignalType type = SignalType.DO;
            int index = 1;
            int value = 1;

            // [ZH] 写指定类型指定端口IO的值
            // [EN] Write specified type and port IO value
            code = controller.Signals.Write(type, index, value);
            if (code == StatusCode.OK)
            {
                Console.WriteLine("写入IO信号成功/Write Signal Success");
                Console.WriteLine($"{type}：{index} 设置为/set to value {value}");
                Console.WriteLine($"信号状态/Signal Status: {(value == 1 ? "高电平/High Level" : "低电平/Low Level")}");
            }
            else
            {
                Console.WriteLine($"写入IO信号失败/Write Signal Failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.5.3 Batch Write DO (Digital Output) Signals

Method Name	Signals.MultiWrite(SignalType `type` , List<int> `ioData` )
Description	Batch write DO (Digital Output) signals.
Request Parameters	`type` : SignalType IO type to write (DO only) `ioData` : List<int> Port number and port value list (e.g., [port1, state1, port2, state2]; length must be even and greater than 0)
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	Only DO supports batch write; UI/UO do not support writing, DI/RI only support single-point read

Example Code

using Agilebot.IR;
using Agilebot.IR.Types;

public class Test
{
    public static async Task Main()
    {
        string controllerIP = "10.27.1.254";
        Arm controller = new Arm(controllerIP);
        StatusCode code = await controller.Connect();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "Successfully connected.");

        // Batch write DO1=1, DO2=0
        code = controller.Signals.MultiWrite(SignalType.DO, new List<int> { 1, 1, 2, 0 });
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "MultiWrite Success");

        code = controller.Disconnect();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "Successfully disconnected.");
    }
}

4.5.4 Batch Read DO (Digital Output) Port Values

Method Name	Signals.MultiRead(SignalType `type` , List<int> `indexes` )
Description	Batch read DO (Digital Output) port values.
Request Parameters	`type` : SignalType IO type to read (DO only) `indexes` : List<int> Port number list (cannot be empty)
Return Value	List<int>: Port value list (order consistent with input) StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+
Note	Only DO supports batch read; UI/UO do not support writing, DI/RI only support single-point read

Example Code

using Agilebot.IR;
using Agilebot.IR.Types;

public class Test
{
    public static async Task Main()
    {
        string controllerIP = "10.27.1.254";
        Arm controller = new Arm(controllerIP);
        StatusCode code = await controller.Connect();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "Successfully connected.");

        // Batch read DO1, DO2
        (List<int> values, StatusCode readCode) = controller.Signals.MultiRead(SignalType.DO, new List<int> { 1, 2 });
        if (readCode == StatusCode.OK)
        {
            Console.WriteLine($"MultiRead Success: DO1={values[0]}, DO2={values[1]}");
        }

        code = controller.Disconnect();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "Successfully disconnected.");
    }
}

4.5 IO Signals ​

Overview ​

4.5.1 Reading the Value of a Specified Type and Port IO ​

4.5.2 Writing the Value of a Specified Type and Port IO ​

4.5.3 Batch Write DO (Digital Output) Signals ​

4.5.4 Batch Read DO (Digital Output) Port Values ​

4.5 IO Signals

Overview

4.5.1 Reading the Value of a Specified Type and Port IO

4.5.2 Writing the Value of a Specified Type and Port IO

4.5.3 Batch Write DO (Digital Output) Signals

4.5.4 Batch Read DO (Digital Output) Port Values