READ_CTRLIO_INPUT_EX

This structure provides detailed real-time input signals from the robot controller, including digital inputs, analog inputs, switch states, safety inputs, and analog input modes. It is used to monitor various input signals and their corresponding modes for robot operation and diagnostics.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iActualDI	unsigned char[NUM_DIGITAL]	0x00~0x01	Digital inputs (16ch, on/off)
16	_fActualAI	float[NUM_ANALOG]		Analog inputs (2ch, numeric)
24	_iActualSW	unsigned char[NUM_SWITCH]	0x00~0x01	Switch inputs (3ch, incl. direct-teach button)
27	_iActualSI	unsigned char[NUM_SAFETY_IN]	0x00~0x01	Safety inputs (2ch)
29	_iActualAT	unsigned char[NUM_ANALOG]	0x00~0x01	Analog input mode (per channel; e.g., 0: V, 1: I)

Total size: 31 bytes

Defined in: DRFS.h

typedef struct _READ_CTRLIO_INPUT_EX
{
    unsigned char _iActualDI[NUM_DIGITAL];
    float         _fActualAI[NUM_ANALOG];
    unsigned char _iActualSW[NUM_SWITCH];
    unsigned char _iActualSI[NUM_SAFETY_IN];
    unsigned char _iActualAT[NUM_ANALOG];
} READ_CTRLIO_INPUT_EX, *LPREAD_CTRLIO_INPUT_EX;