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 |