Digital I/O Control
========================

Flexiv RDK can also control the general-purpose digital I/O ports located on the robot's control box. A total of 16 digital outputs and 16 digital inputs are available. The digital inputs can be read via ``Robot::digital_inputs()``, and the digital outputs can be written via ``Robot::SetDigitalOutputs()`` or read via ``Robot::digital_outputs()``.

.. figure:: _static/digital_io_ports.jpg
    :align: center
    :figclass: align-center

    5 - General-purpose digital I/O, 6 - Safety I/O

.. note::
  Make sure to use the I/O ports marked in the red rectangle. Safety I/O is only accessible by the safety system, not by the robot software.