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CONFIG_SAFETY_IO

This structure defines the safety I/O configuration map used by the robot’s safety controller. It specifies the logical mapping and current state of all safety-related input/output ports and consists of the following fields.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iIO[TYPE_LAST][NUM_SAFETY]	unsigned char[2][8]		16 safety controller I/O ports

Total size: 16 bytes

Defined in: DRFS.h

typedef struct _CONFIG_SAFETY_IO
{
    /* Safety I/O state map
       [0] : Input channel set (8 ports)
       [1] : Output channel set (8 ports)
    */
    unsigned char _iIO[TYPE_LAST][NUM_SAFETY];
} CONFIG_SAFETY_IO, *LPCONFIG_SAFETY_IO;