24.set_gpio_config

1. Introduction

Set the corresponding operation interface for controller digital IO trigger.

Sets the corresponding operation instructions for controller input/output IO pull-up triggering.

2.Request & Response

Message

{
    "cmd": "set_gpio_config",
    "data": {
        cgpio': {
            'CI': [
                {'name': 'CI0', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI1', 'disabled': False, 'value': 1, 'tasks': []}, 
                {'name': 'CI2', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI3', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI4', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI5', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI6', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CI7', 'disabled': False, 'value': 0, 'tasks': []}
            ], 
            'CO': [
                {'name': 'CO0', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO1', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO2', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO3', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO4', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO5', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO6', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'CO7', 'disabled': False, 'value': 0, 'tasks': []}
            ], 
            'DI': [
                {'name': 'DI0', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI1', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI2', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI3', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI4', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI5', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI6', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DI7', 'disabled': False, 'value': 0, 'tasks': []}
            ], 
            'DO': [
                {'name': 'DO0', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO1', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO2', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO3', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO4', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO5', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO6', 'disabled': False, 'value': 0, 'tasks': []}, 
                {'name': 'DO7', 'disabled': False, 'value': 0, 'tasks': []}
            ]
        }
    },
    "id": "1"
}

Request

data	type	Required filed	Description	example value
cgpio	json	yes	# Trigger Operations When CI, DI, CO, and DO Are Pulled High When CI (Common Input), DI (Digital Input) are pulled high, the value indicates the following operations: 0: General Input 1: Stop Motion 2: Protective Reset 3: Offline Task 4: Manual Mode 5: Reduced Mode 6: Enable Robotic Arm When CO (Common Output) and DO (Digital Output) are pulled high, the value indicates the following operations: 0: General Output 1: Motion Stopped 2: Motion In Progress 11: Error Present 12: Warning Present 13: Collision Detected 14: Manual Mode Activated 15: Reduced Mode Activated 16: Offline Task Running 17: Robotic Arm Enabled 18: Emergency Stop Button Pressed The tasks represent the file name of the offline task that is triggered,for example: [UF]-1001_Joint_Motion.

Response:

code=0->Success;
code!=0->Failed, refer to xarm_api_code;