# I/O and TCP

## set_IO()

```python
robot.set_IO(0, True)
robot.set_IO(0, False)
```

The numeric IDs map as follows.

| id | Target |
|---:|---|
| 0..7 | Standard Digital Output |
| 8..15 | Configurable Digital Output |
| 16..17 | Tool Digital Output |

## get_IO()

```python
robot.get_IO(0)
```

Return the digital output state.

## get_digital_input()

```python
robot.get_digital_input(0)
```

Return the digital input state.

## set_tcp()

```python
robot.set_tcp([0, 0, 100, 0, 0, 0])
```

Set the TCP offset in mm and degrees (rotation vector).

## set_tool() / set_tool_define()

```python
robot.set_tool(0, [0, 0, 100, 0, 0, 0])
robot.set_tool_define(0, [0, 0, 100, 0, 0, 0])
```

The UR implementation does not use tool numbers; these calls delegate to `set_tcp()`.

## get_current_tool()

```python
robot.get_current_tool()
```

Return the current TCP offset.

## safety limit

```python
robot.is_pose_within_safety_limits(pose)
robot.is_joints_within_safety_limits(joints)
```

Use these checks before executing a move.