UFactory XARM User Manual page 50

General Specifications for all Digital I/O
2.5.1.
This section describes the electrical specifications for the following 24V
digital I/Os for the Control Box.
•
Dedicated safety I/O.
•
Configurable I/O.
For the specific configuration functions of IO, see the following table:
Configurable Function
General Input
Stop Moving
Safeguard Reset
Offline Task
Manual Mode
Reduced Mode
Enable Robot
Configurable Function
General Output
Motion Stopped
Robot Moving
Error
CI0-CI7
Yes
（Configurable Input）
Yes
Yes
Yes
Yes
Yes
Yes
CO0-CO7
Yes
（Configurable Output）
Yes
Yes
Yes
50
DI0-DIO7
Yes
（Digital Input）
No
No
Yes
Yes
No
Yes
DO0-DO7
Yes
（Digital Output）
Yes
Yes
Yes