.. _struct_READ_CTRLIO_INPUT_EX2:

READ_CTRLIO_INPUT_EX2
=====================

This structure provides **real-time input signals** from the robot controller, including digital inputs,  
analog inputs, switch states, safety inputs, and analog input modes. It aggregates various input signals  
for robot operation and diagnostics, specific to the **EX2** version.

.. list-table::
   :widths: 10 32 18 8 32
   :header-rows: 1

   * - **BYTE#**
     - **Field Name**
     - **Data Type**
     - **Value**
     - **Remarks**
   * - 0
     - ``_iActualDI``
     - ``unsigned char[NUM_DIGITAL_V3]``
     - 0x00~0x01
     - Digital **inputs** (on/off)
   * - 16
     - ``_fActualAI``
     - ``float[NUM_ANALOG]``
     - -
     - **Analog inputs** (numeric)
   * - 24
     - ``_iActualSW``
     - ``unsigned char[NUM_SWITCH]``
     - 0x00~0x01
     - **Switch inputs** (incl. direct-teach)
   * - 27
     - ``_iActualSI``
     - ``unsigned char[NUM_SAFETY_IN_V3]``
     - 0x00~0x01
     - **Safety** inputs
   * - 29
     - ``_iActualAT``
     - ``unsigned char[NUM_ANALOG]``
     - 0x00~0x01
     - **Analog input mode** per channel (e.g., 0: V, 1: I)

Total size: 31 bytes

**Defined in:** ``DRFS.h``

.. code-block:: cpp

   typedef struct _READ_CTRLIO_INPUT_EX2
   {
       unsigned char _iActualDI[NUM_DIGITAL_V3];
       float         _fActualAI[NUM_ANALOG];
       unsigned char _iActualSW[NUM_SWITCH];
       unsigned char _iActualSI[NUM_SAFETY_IN_V3];
       unsigned char _iActualAT[NUM_ANALOG];
   } READ_CTRLIO_INPUT_EX2, *LPREAD_CTRLIO_INPUT_EX2;