struct.MONITORING_CTRLIO_EX
This is structure information for checking I/O current state information installed in the control box of the robot controller, and is composed of the following fields.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | I/O Information(#1) | - | - | Information on I/O Digital Input signal |
31 | I/O Information(#2) | - | Information on I/O Digital Output signal | |
57 | I/O Information(#3) | - | - | Information on Encorder Data signal |
69 | Reserved Space | - | - | 24 bytes Reserved Space |
I/O Information (#1) consists of I / O input information attached to Safety B'd in the control box as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Digital signal | uchar | 0x00~0x01 | Information on On/Off of 16 Digitals |
16 | Analog signal | float | - | Two Analogs Numeric Information |
24 | Switch signal | uchar | 0x00~0x01 | Information on On/Off of Three Switches |
27 | Safety signal | uchar | 0x00~0x01 | Information on On/Off of Two Safeties |
29 | Analog mode | uchar | 0x00~0x01 | Two Analogs Numeric Information |
- Switch signal information Three switch status information attached to the control box and T / P, such as a direct teaching button, and the safety signal is input information of two safety emergency input signals and two protective-stop signals attached to the control box.
I / O Information (# 2) consists of I / O output information attached to Safety B'd in the control box.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Digital signal | uchar | 0x00~0x01 | Information on On/Off of 16 Digitals |
16 | Analog signal | float | - | Two Analogs Numeric Information |
24 | Analog mode | uchar | 0x00~0x01 | Two Analogs mode Numeric Information |
I / O Information (# 3) consists of Encorder data information attached to Safety B'd in the control box as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Strobe signal | uchar | 0x00~0x01 | Information on On/Off of 2 Encorder |
2 | Raw data | uint | - | Two Encorder Numeric Information |
10 | Reset signal | uchar | 0x00~0x01 | Information on reset of 2 Encorder |
- The following input / output information is provided for the small model in the Reserved Space.
BYTE# | Field Name | Data Type | Value | Remarks |
|---|---|---|---|---|
0 | Digital input signal of process button | uchar | 0x00~0x01 | 4 Digital On/Off Information |