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7.4.3. IOs

Schema based documentation

Additional info

  • For the port, see also connection between the PC and the dVRK controllers.

  • If you want to use the port udp, all your controllers need to have a FPGAs V3 <fpga> (any controller released after 2024) and you need to daisy chain your controllers with Ethernet cables. You don’t need any FireWire cable nor adapter on the PC.

  • Regarding the possible conflicts between two MTMRs or MTMLs, see board Id.

  • For the IO period, see software architecture since the IO and PID often share the same thread (and periodicity).

  • For the extra configuration_files, see available dMIB IOs on the dVRK Classic controllers.