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ROBOT_FORCE

This structure represents the force and torque data measured or estimated by the robot controller. It provides six-axis wrench information, including three linear forces (Fx, Fy, Fz) and three torques (Tx, Ty, Tz).

BYTE#	Field Name	Data Type	Value	Remarks
0	`_fForce`	`float[NUM_JOINT]`	(Fx, Fy, Fz, Tx, Ty, Tz)	Six-axis force and torque values in the selected reference frame.

Total size: 24 bytes

Defined in: DRFS.h

typedef struct _ROBOT_FORCE
{
    float _fForce[NUM_JOINT];  /* current force and torque (Fx, Fy, Fz, Tx, Ty, Tz) */
} ROBOT_FORCE, *LPROBOT_FORCE;