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RT_INPUT_DATA_LIST

This structure contains real-time external input/output data used for external control mode (Realtime External Control). It aggregates force/torque sensor data, digital/analog I/O, and reserved fields for extended interface support.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fExternalForceTorque	float[NUM_JOINT]		External force/torque values applied to each joint (Typically 6 channels: Fx, Fy, Fz, Tx, Ty, Tz)
24	_iExternalDI	unsigned short		External digital input bitfield (Each bit corresponds to an external DI channel)
26	_iExternalDO	unsigned short		External digital output bitfield (Each bit corresponds to an external DO channel)
28	_fExternalAnalogInput	float[6]		External analog input channels (up to 6)
52	_fExternalAnalogOutput	float[6]		External analog output channels (up to 6)
76	_iReserved	unsigned char[256]		Reserved for future expansion or vendor-specific data

Total size: 518 bytes

Defined in: DRFS.h

typedef struct _RT_INPUT_DATA_LIST
{
    /* External Force Torque */
    float          _fExternalForceTorque[NUM_JOINT];
    /* External Digital Input */
    unsigned short _iExternalDI;
    /* External Digital Output */
    unsigned short _iExternalDO;
    /* external analog input (6 channel) */
    float          _fExternalAnalogInput[6];
    /* external analog output (6 channel) */
    float          _fExternalAnalogOutput[6];
    /* Reserved */
    unsigned char  _iReserved[256];
} RT_INPUT_DATA_LIST, *LPRT_INPUT_DATA_LIST;

Note

• _fExternalForceTorque provides the real-time measured external forces/torques on each joint.

• _iExternalDI and _iExternalDO represent bitmapped I/O data.

• _fExternalAnalogInput / _fExternalAnalogOutput store voltage or current values.

• _iReserved is reserved for future firmware updates or custom interfaces.