I/O and TCP

set_IO()

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

robot.get_IO(0)

Return the digital output state.

robot.get_digital_input(0)

Return the digital input state.

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

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

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().

robot.get_current_tool()

Return the current TCP offset.

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

Use these checks before executing a move.