Inputs and outputs

// Reads axis configuration information for the default robot control group. Returns axis type names for each of the 8 possible axes.
RobotAxisConfigData GetConfigurationInformation();

// Reads axis configuration information for a specified control group. Returns axis type names (e.g., "S", "L", "U", "R", "B", "T") for each axis.
RobotAxisConfigData GetConfigurationInformation(RobotControlGroup type);

// Reads information about the currently selected and executing job (program). Returns job name, current line, step, and speed override percentage.
RobotJobData GetExecutingJobInformation();

// Reads the position error (difference between commanded and actual position) for the default robot. Values indicate servo tracking error in pulse units.
RobotAxisIntData GetPositionError();

// Reads the position error for a specified control group. Position error indicates the difference between commanded and actual position.
RobotAxisIntData GetPositionError(RobotControlGroup type);

// Reads the current robot Cartesian position (TCP position and orientation). Coordinates are returned in millimeters for X, Y, Z and degrees for Rx, Ry, Rz.
RobotPositionCartesianData GetRobotCartesianPosition();

// Reads the current robot joint position in pulse (encoder) values. Returns raw pulse values for all robot axes.
RobotPositionIntData GetRobotJointPosition();

// Reads position data for a specified control group. Can read robot, base, or station position data depending on the control group specified.
RobotPositionIntData GetRobotPosition(RobotControlGroup type);

// Reads the current operational status of the robot controller. Returns information about mode (teach/play), running state, hold status, alarms, and servo power.
RobotStatusData GetStatusInformation();

// Retrieves system information about the default robot system (R1). Returns software version, robot name, and parameter file information.
RobotSystemInformation GetSystemInformation();

// Retrieves system information for a specific robot system or control group. Use for multi-robot controllers or to query specific axes groups.
RobotSystemInformation GetSystemInformation(RobotSystemTypeData type);

// Reads multiple base position variables (BP variables) from the robot controller. Base position variables define reference coordinate frames for robot operations.
RobotBasePositionVariableData ReadBasePosition(int firstIndex, int count);

// Reads multiple external axis variables (EX variables) from the robot controller. External axis variables store positions for additional axes beyond the main robot arm.
RobotExternalAxisVariableData ReadExternalPosition(int firstIndex, int count);

// Reads multiple I/O bytes from the robot controller starting at a specified index.
RobotIOData ReadIO(int firstIndex, int count);

// Reads multiple I/O bytes from the robot controller using I/O group addressing. The starting byte index is computed from the I/O type and group number.
RobotIOData ReadIO(IOType type, ushort group, int count);

// Reads multiple position variables (P variables) from the robot controller. Position variables store complete robot poses including position, orientation, and configuration.
RobotPositionVariableData ReadPositionVariable(int firstIndex, int count);

// Writes base position variables (BP variables) to the robot controller.
RobotDataHeader WriteBasePosition(int firstIndex, RobotBasePositionData[] data);

// Writes external axis variables (EX variables) to the robot controller using generic type. Provided for backward compatibility with existing code.
RobotDataHeader WriteExternalPosition(int firstIndex, RobotAxisRawData<int>[] data);

// Writes external axis variables (EX variables) to the robot controller.
RobotDataHeader WriteExternalPosition(int firstIndex, RobotExternalAxisData[] data);

// Writes I/O bytes to the robot controller starting at a specified index.
RobotDataHeader WriteIO(int firstIndex, byte[] data);

// Writes I/O bytes to the robot controller using I/O group addressing. By default, only Network Input can be written The starting byte index is computed from the I/O type and group number.
RobotDataHeader WriteIO(IOType type, ushort group, byte[] data);

// Writes network input bytes to the robot controller
RobotDataHeader WriteIoNetworkInput(ushort group, byte[] data);

// Writes position variables (P variables) to the robot controller.
RobotDataHeader WritePositionVariable(int firstIndex, RobotPositionIntData[] data);