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
    printf("modbus data\n");
    for (int i = 0; i < pModbus->_iRegCount; i++)
        printf("%s: %d\n", pModbus->_tRegCount[i]._szSymbol, pModbus->_tRegCount[i]._iValue);
}

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.