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MONITORING_CTRLIO

This structure provides the current I/O state information installed in the control box of the robot controller, aggregating both input and output sections. It is used to monitor the robot controller’s I/O interfaces.

BYTE#	Field Name	Data Type	Value	Remarks
0	_tInput	READ_CTRLIO_INPUT		Controller I/O inputs
39	_tOutput	READ_CTRLIO_OUTPUT		Controller I/O outputs

Total size: 63 bytes

Defined in: DRFS.h

typedef struct _MONITORING_CTRLIO
{
    READ_CTRLIO_INPUT  _tInput;   /* input data  */
    READ_CTRLIO_OUTPUT _tOutput;  /* output data */
} MONITORING_CTRLIO, *LPMONITORING_CTRLIO;

I/O Information mapping

I/O Information	Description
(#1) at BYTE 0	Information on 16 digital inputs attached to the control box
(#2) at BYTE 16	Information on two analog inputs attached to the control box
(#3) at BYTE 24	Information on the state of three switches attached to the control box and T/P such as the direct teaching button
(#4) at BYTE 27	Information on two safety-related inputs attached to the control box
(#5) at BYTE 29	Information on two encoder-related inputs attached to the control box
(#6) at BYTE 31	Information on two encoder-related raw data attached to the control box
(#7) at BYTE 39	Information on 16 digital outputs attached to the control box
(#8) at BYTE 55	Information on two analog outputs attached to the control box