struct.MONITORING_CTRLIO
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) | uchar | - | Information on On/Off of 16 Digitals |
16 | I/O Information (#2) | float | Two Analogs Numeric Information | |
24 | I/O Information (#3) | uchar | - | Information on On/Off of Three Switches |
27 | I/O Information (#4) | uchar | Information on On/Off of Two Safeties | |
29 | I/O Information (#5) | uchar | Information on On/Off of Two Encoders | |
31 | I/O Information (#6) | uint | Two Encoders Numeric Information | |
39 | I/O Information (#7) | uchar | - | Information on On/Off of 16 Digitals |
55 | I/O Information (#8) | float | Two Analogs Numeric Information |
An explanation of I/O information is as follows.
I/O Information | Description |
|---|---|
I/O Information (#1) | Information on 16 digital inputs attached to the control box |
I/O Information (#2) | Information on two analog inputs attached to the control box |
I/O Information (#3) | Information on the state of three switches attached to the control box and T/P such as the direct teaching button |
I/O Information (#4) | Information on two safety-related inputs attached to the control box |
I/O Information (#5) | Information on two encoder-related inputs attached to the control box |
I/O Information (#6) | Information on two encoder-related raw data attached to the control box |
I/O Information (#7) | Information on 16 digital outputs attached to the control box |
I/O Information (#8) | Information on two analog outputs attached to the control box |