From 1c012aaba5d558be7d124b533d10e1d4391a1728 Mon Sep 17 00:00:00 2001
From: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Fri, 6 Nov 2026 10:30:46 +0100
Subject: [PATCH 1/5] Add an I/O connector overview to the documentation

---
 doc/architecture/script_command_interface.rst |   2 +
 doc/index.rst                                 |   1 +
 doc/io_connectors.rst                         | 108 ++++++++++++++++++
 3 files changed, 111 insertions(+)
 create mode 100644 doc/io_connectors.rst

diff --git a/doc/architecture/script_command_interface.rst b/doc/architecture/script_command_interface.rst
index fac7b0c3b..a7da5fc23 100644
--- a/doc/architecture/script_command_interface.rst
+++ b/doc/architecture/script_command_interface.rst
@@ -29,6 +29,8 @@ At the time of writing the ``ScriptCommandInterface`` provides the following fun
 - ``setToolVoltageT2()``: Set the tool voltage on connector T2. Requires PolyScope X 10.15.0 or later and Tool Flange
   V2, as reported by the RTDE robot properties. PolyScope 5 does not support connector T2.
 
+See :ref:`io_connectors` for what the tool connectors T0 and T2 are.
+
 Communication protocol
 ----------------------
 
diff --git a/doc/index.rst b/doc/index.rst
index d0e279c6d..51a8514b4 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -15,6 +15,7 @@ can be found on `GitHub <https://github.com/UniversalRobots/Universal_Robots_Cli
 
    installation
    setup
+   io_connectors
    polyscope_compatibility
    architecture
    examples
diff --git a/doc/io_connectors.rst b/doc/io_connectors.rst
new file mode 100644
index 000000000..b5b13e737
--- /dev/null
+++ b/doc/io_connectors.rst
@@ -0,0 +1,108 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/io_connectors.rst
+
+.. _io_connectors:
+
+I/O connector overview
+======================
+
+This page gives a short overview of the I/O connectors on the tool flange and the control box, and
+which functions of this library act on them.
+
+- Starting with software versions 10.15 and 5.26, URScript addresses I/O through string labels such
+  as ``CB_CI0`` or ``T0_V`` (unified I/O).
+- A label that does not exist on the connected hardware raises a runtime exception in URScript.
+- The library reports the connected hardware as ``ControlBoxType`` (``CB5`` or ``CB7``) and
+  ``ToolFlangeType`` (``V1`` or ``V2``), available from the ``PrimaryClient`` and the
+  ``RTDEWriter``.
+- For the complete list of labels and the connector drawings, refer to the robot manual.
+
+Tool connectors
+---------------
+
+- **e-Series and UR-Series robots**: connector ``T0`` only. Reported as ``ToolFlangeType::V1``.
+- **g-Series robots**: connectors ``T0`` to ``T3``. Reported as ``ToolFlangeType::V2``.
+
+  - ``T0`` works the same as on e-Series and UR-Series robots.
+
+T0 -- M8 8-pin (CB3, e-Series, UR-Series and g-Series)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- Digital inputs ``T0_CI0``, ``T0_CI1``, can be configured for Safe freedrive.
+- Digital outputs ``T0_DO0``, ``T0_DO1``.
+- Analog inputs ``T0_AI0``, ``T0_AI1``.
+- Tool power output ``T0_V``: 0, 12 or 24 V.
+- Library: ``setToolVoltage()``, ``RTDEWriter::sendToolDigitalOutput()`` with pins 0-1.
+
+T1 -- Smart Panel pogo-pin connector (g-Series only)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- Digital inputs ``T1_DI0`` to ``T1_DI2``.
+- Digital inputs ``T1_CI0``, ``T1_CI1``, can be configured for Safe freedrive.
+- Digital outputs ``T1_DO0`` to ``T1_DO3``. ``T1_DO0`` is the Smart Panel LED.
+- ``T1_CONNECTED`` is true when a Smart Panel is connected and powered.
+- Library: ``RTDEWriter::sendToolDigitalOutput()`` with pins 2-5.
+
+T2 -- M8 4-pin (g-Series only)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- Power output only, ``T2_V``: 0, 24 or 48 V.
+- Library: ``setToolVoltageT2()``, requires PolyScope X 10.15.0 or later.
+
+T3 -- Industrial Ethernet (g-Series only)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- Ethernet connection to the tool.
+- No I/O or power labels.
+
+CB5 control box
+---------------
+
+- I/O:
+
+  - Digital inputs ``CB_DI0`` to ``CB_DI7``.
+  - Digital outputs ``CB_DO0`` to ``CB_DO7``.
+  - Configurable digital inputs ``CB_CI0`` to ``CB_CI7`` and outputs ``CB_CO0`` to ``CB_CO7``,
+    can be used for safety functions.
+  - Digital inputs ``CB_DI8`` to ``CB_DI11`` with high-speed encoder input functions.
+  - Analog inputs ``CB_AI0``, ``CB_AI1`` and analog outputs ``CB_AO0``, ``CB_AO1``.
+
+- External ports:
+
+  - One Ethernet port.
+  - Two USB-A ports.
+
+CB7 control box
+---------------
+
+- I/O:
+
+  - Configurable digital inputs ``CB_CI0`` to ``CB_CI15`` and outputs ``CB_CO0`` to ``CB_CO15``,
+    can be used for safety functions.
+  - No standard digital outputs.
+  - Digital inputs ``CB_DI0`` to ``CB_DI3`` with high-speed encoder input functions.
+  - Analog inputs ``CB_AI0``, ``CB_AI1`` and analog outputs ``CB_AO0``, ``CB_AO1``.
+
+- External ports:
+
+  - Three Ethernet ports.
+  - Two USB-C ports with DisplayPort output.
+  - Two USB-A ports.
+  - Five Ethernet ports in total, counting the end-of-arm and Teach Pendant connections.
+
+Configuration on the Teach Pendant
+----------------------------------
+
+- Network configuration of the Ethernet ports, such as routing and firewall settings.
+- Configuration of the configurable I/Os, for example whether one is used for a safety function.
+
+Control box library functions
+-----------------------------
+
+- ``RTDEWriter::sendStandardDigitalOutput()``: sets the standard digital outputs. Returns ``false``
+  on a CB7, which has none.
+- ``RTDEWriter::sendConfigurableDigitalOutput()``: sets the configurable digital outputs.
+
+  - Pins 0-7 with RTDE protocol versions below 3.
+  - Pins 0-15 with RTDE protocol version 3.
+
+- ``RTDEWriter::sendStandardAnalogOutput()``: sets the analog outputs 0-1.

From bbfcdf44d17dac1ef5848ca4c867508800a64aef Mon Sep 17 00:00:00 2001
From: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Fri, 6 Nov 2026 13:37:43 +0100
Subject: [PATCH 2/5] Small adjustments

---
 doc/io_connectors.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/io_connectors.rst b/doc/io_connectors.rst
index b5b13e737..43a55cb27 100644
--- a/doc/io_connectors.rst
+++ b/doc/io_connectors.rst
@@ -24,7 +24,7 @@ Tool connectors
 
   - ``T0`` works the same as on e-Series and UR-Series robots.
 
-T0 -- M8 8-pin (CB3, e-Series, UR-Series and g-Series)
+T0 -- M8 I/O 8-pin (CB3, e-Series, UR-Series and g-Series)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 - Digital inputs ``T0_CI0``, ``T0_CI1``, can be configured for Safe freedrive.
@@ -42,7 +42,7 @@ T1 -- Smart Panel pogo-pin connector (g-Series only)
 - ``T1_CONNECTED`` is true when a Smart Panel is connected and powered.
 - Library: ``RTDEWriter::sendToolDigitalOutput()`` with pins 2-5.
 
-T2 -- M8 4-pin (g-Series only)
+T2 -- M8 Power 4-pin (g-Series only)
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 - Power output only, ``T2_V``: 0, 24 or 48 V.

From 472ccb0ea82f152ac3d10c2a1a2f3db4dd2eb390 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 6 Nov 2026 14:03:18 +0100
Subject: [PATCH 3/5] Fix underline lengths.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
---
 doc/io_connectors.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/io_connectors.rst b/doc/io_connectors.rst
index 43a55cb27..a4e38d0f7 100644
--- a/doc/io_connectors.rst
+++ b/doc/io_connectors.rst
@@ -25,7 +25,7 @@ Tool connectors
   - ``T0`` works the same as on e-Series and UR-Series robots.
 
 T0 -- M8 I/O 8-pin (CB3, e-Series, UR-Series and g-Series)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 - Digital inputs ``T0_CI0``, ``T0_CI1``, can be configured for Safe freedrive.
 - Digital outputs ``T0_DO0``, ``T0_DO1``.
@@ -43,7 +43,7 @@ T1 -- Smart Panel pogo-pin connector (g-Series only)
 - Library: ``RTDEWriter::sendToolDigitalOutput()`` with pins 2-5.
 
 T2 -- M8 Power 4-pin (g-Series only)
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 - Power output only, ``T2_V``: 0, 24 or 48 V.
 - Library: ``setToolVoltageT2()``, requires PolyScope X 10.15.0 or later.

From 6fe1c83965e2700b3787acc7ad9563ebec92e349 Mon Sep 17 00:00:00 2001
From: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Fri, 6 Nov 2026 15:17:11 +0100
Subject: [PATCH 4/5] Add a notice that all io can be read and controlled using
 rtde_client

---
 doc/io_connectors.rst | 1 +
 1 file changed, 1 insertion(+)

diff --git a/doc/io_connectors.rst b/doc/io_connectors.rst
index a4e38d0f7..60bcab60b 100644
--- a/doc/io_connectors.rst
+++ b/doc/io_connectors.rst
@@ -14,6 +14,7 @@ which functions of this library act on them.
 - The library reports the connected hardware as ``ControlBoxType`` (``CB5`` or ``CB7``) and
   ``ToolFlangeType`` (``V1`` or ``V2``), available from the ``PrimaryClient`` and the
   ``RTDEWriter``.
+- All inputs and outputs can be read, and outputs can be written, through the :ref:`rtde_client`.
 - For the complete list of labels and the connector drawings, refer to the robot manual.
 
 Tool connectors

From 66ac127d0c87295733c8dee03a1109abee8a10f6 Mon Sep 17 00:00:00 2001
From: urrsk <41109954+urrsk@users.noreply.github.com>
Date: Fri, 6 Nov 2026 15:20:42 +0100
Subject: [PATCH 5/5] small change

---
 doc/io_connectors.rst | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/io_connectors.rst b/doc/io_connectors.rst
index 60bcab60b..9a68a73e3 100644
--- a/doc/io_connectors.rst
+++ b/doc/io_connectors.rst
@@ -14,7 +14,7 @@ which functions of this library act on them.
 - The library reports the connected hardware as ``ControlBoxType`` (``CB5`` or ``CB7``) and
   ``ToolFlangeType`` (``V1`` or ``V2``), available from the ``PrimaryClient`` and the
   ``RTDEWriter``.
-- All inputs and outputs can be read, and outputs can be written, through the :ref:`rtde_client`.
+- All inputs and outputs can be read, and outputs can be set, through the :ref:`rtde_client`.
 - For the complete list of labels and the connector drawings, refer to the robot manual.
 
 Tool connectors