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MONITORING_MBUS_SLAVE_COIL

This is a structure information to monitor Modbus slave coil states. It provides real-time digital signal status such as controller I/O, tool I/O, and robot safety conditions.

BYTE#	Field Name	Data Type	Value	Remarks
0	_nCtrlDigitalInput	unsigned short		Controller digital input state (bitfield)
2	_nCtrlDigitalOutput	unsigned short		Controller digital output state (bitfield)
4	_nToolDigitalInput	unsigned char		Tool digital input state
5	_nToolDigitalOutput	unsigned char		Tool digital output state
6	_nServoOnRobot	unsigned char	0 / 1	Servo ON status (1: Active)
7	_nEmergencyStopped	unsigned char	0 / 1	Emergency stop state
8	_nSafetyStopped	unsigned char	0 / 1	Safety stop active flag
9	_nDirectTeachButtonPress	unsigned char	0 / 1	Direct teaching button pressed
10	_nPowerButtonPress	unsigned char	0 / 1	Power button pressed
11	_nSafetyStoppedRequiredRecoveryMode	unsigned char	0 / 1	Indicates if safety stop requires recovery mode

Total size: 12 bytes

Defined in: DRFS.h

typedef struct _MONITORING_MBUS_SLAVE_COIL
{
    unsigned short  _nCtrlDigitalInput;
    unsigned short  _nCtrlDigitalOutput;
    unsigned char   _nToolDigitalInput;
    unsigned char   _nToolDigitalOutput;
    unsigned char   _nServoOnRobot;
    unsigned char   _nEmergencyStopped;
    unsigned char   _nSafetyStopped;
    unsigned char   _nDirectTeachButtonPress;
    unsigned char   _nPowerButtonPress;
    unsigned char   _nSafetyStoppedRequiredRecoveryMode;

} MONITORING_MBUS_SLAVE_COIL;