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;