UFactory XARM User Manual page 58

trigger the motion of xArm by connecting CI0 to GND; if xArm needs to
pause the motion, disconnect SI0 and SI1 from GND.
Note：
DI0-DI7 are not equipped with the following three functions: stop moving,
safeguard reset, and reduced mode.
2.5.3. General Digital I/O Function
2.5.3.1. Configurable Output
The digital output is implemented in the form of NPN. When the digital
output is enabled, the corresponding connector will be driven to GND.
When the digital output is disabled, the corresponding connector will be
open (OC/OD).
Users must follow the electrical specifications set in section 2.4.1
'universal specification'.
The following example shows how to use the digital output, as the
internal output is an open-drain (OD) output, so you need to connect the
resistor to the power supply according to the load. The resistance and
power of the resistor depend on the specific use.
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