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READ_ENCODER_INPUT

This structure provides real-time encoder input signals from the robot controller, including strobe signals, raw encoder data, and reset signals. It is used for monitoring encoder status and for performing diagnostics.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iActualES

unsigned char[NUM_ENCORDER]

0x00~0x01

Encoder strobe signal (2ch)

2

_iActualED

unsigned int[NUM_ENCORDER]

Encoder raw data (2ch, numeric)

10

_iActualER

unsigned char[NUM_ENCORDER]

0x00~0x01

Encoder reset signal (2ch)

Total size: 12 bytes

Defined in: DRFS.h

typedef struct _READ_ENCODER_INPUT
{
    unsigned char _iActualES[NUM_ENCORDER];
    unsigned int  _iActualED[NUM_ENCORDER];
    unsigned char _iActualER[NUM_ENCORDER];
} READ_ENCODER_INPUT, *LPREAD_ENCODER_INPUT;