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 |