You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

READ_CTRLIO_OUTPUT_EX

This structure provides real-time output signals from the robot controller, including digital outputs, analog outputs, and analog output modes. It aggregates the output control signals necessary for robot operations.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iTargetDO	unsigned char[NUM_DIGITAL]	0x00~0x01	Digital outputs (16ch, on/off)
16	_fTargetAO	float[NUM_ANALOG]		Analog outputs (2ch, numeric)
24	_iTargetAT	unsigned char[NUM_ANALOG]	0x00~0x01	Analog output mode (per channel)

Total size: 26 bytes

Defined in: DRFS.h

typedef struct _READ_CTRLIO_OUTPUT_EX
{
    unsigned char _iTargetDO[NUM_DIGITAL];
    float         _fTargetAO[NUM_ANALOG];
    unsigned char _iTargetAT[NUM_ANALOG];
} READ_CTRLIO_OUTPUT_EX, *LPREAD_CTRLIO_OUTPUT_EX;