set_on_monitoring_modbus

This function registers a callback that automatically monitors the current state of Modbus I/O channels configured in the robot controller. It is useful when Modbus-based external devices or sensors need to be monitored in real time.

Definition
DRFLEx.h within class CDRFLEx, public section (line 631)

void set_on_monitoring_modbus(TOnMonitoringModbusCB pCallbackFunc) {
    _set_on_monitoring_modbus(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringModbusCB		Callback function pointer for Modbus I/O monitoring

Return
None

Example

void OnMonitoringModbusCB(const LPMONITORING_MODBUS pModbus)
{
    // Displays the Modbus I/O states
    cout << "modbus data" << endl;
    for (int i = 0; i < pModbus->_iRegCount; i++)
        cout << pModbus->_tRegCount[i]._szSymbol << ": " << pModbus->_tRegCount[i]._iValue << endl;
}

int main()
{
    drfl.set_on_monitoring_modbus(OnMonitoringModbusCB);
}

This example registers a Modbus monitoring callback that continuously prints the symbol names and values of each Modbus register in the controller.