struct.MONITORING_CTRLIO_EX2
The structure information for checking the current status of the I/O mounted on the control box in the robot controller consists of the following fields.
BYTE# | Field Name | Data Type | Value | Remarks |
0 | I/O Info(#1) | - | - | I/O Signal input information |
48 | I/O Info(#2) | - |
| I/O Signal output information |
90 | I/O Info(#3) | - | - | Encoder Data information |
102 | Reserved | - | - | 24byte reserved space |
I/O information (#1) consists of the I/O input information attached to the Safety Board within the control box as follows.
BYTE# | Field Name | Data Type | Value | Remark |
0 | Digital Signal | uchar | 0x00~0x01 | 32 Digital On/Off information signals |
32 | Analog Signal | float | - | 2 Analog value information signals |
40 | Switch Signal | uchar | 0x00~0x01 | 3 Switch On/Off information |
43 | Safety Signal | uchar | 0x00~0x01 | 2 Safety On/Off information |
46 | Analog Mode | uchar | 0x00~0x01 | 2 Analog mode information Current: 0 Volatage: 1 |
Switch signal information consists of the status information of three switches attached to the control box and the teach pendant (T/P), such as the direct teaching button.
The safety signals are the input status information of the Safety Emergency input signal and the Protective-Stop signal, both of which are attached to the control box.
Operation information (#2) consists of the I/O output information attached to the Safety Board within the control box.
BYTE# | Field Name | Data Type | Value | Remarks |
0 | Digital Signal | uchar | 0x00~0x01 | 32 Digital On/Off information |
32 | Analog Signal | float | - | 2 Analog Value information |
40 | Analog Mode | uchar | 0x00~0x01 | 2 Analog mode information Current: 0 Volatage: 1 |
Operation information (#3) consists of the encoder data information attached to the Safety Board within the control box as follows.
BYTE# | Field Name | Data Type | Value | Remarks |
0 | Strobe Signal information | uchar | 0x00~0x01 | 2 Encorder On/Off information |
2 | RAW Data information | uint | - | 2 Encorder Value information |
10 | Reset Signal Information | uchar | 0x00~0x01 | 2 Encorder Reset information |
The reserved space provides the following input and output information related to the small model.
BYTE# | Field Name | Data Type | Value | Remarks |
0 | Digital input signal of process button | uchar | 0x00~0x01 | 4 Digital On/Off Information |