You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

MONITORING_DATA_EX

This is structure information for checking robot operation data information of the robot controller, and is composed of the following information on seven operations.

BYTE#	Field Name	Data Type	Value	Remarks
0	_tCtrl	MONITORING_CONTROL_EX		Operation Info #1~#6 (State/Joint/Task/Torque/World/User)
809	_tMisc	MONITORING_MISC		Operation Info #7 (Other I/O: time/IO/brake/buttons/current/temp)

Union A — Force-control payload (shares the same 120 B)

BYTE#	Field Name	Data Type	Value	Remarks
903	_tMiscEx._tCtrlEx	MONITORING_FORCECONTROL		Uses Union A region when force-control is enabled.
903	_tMiscEx._szReserved1	unsigned char[120]		Uses the same memory as above when feature is not used (padding).

Union B — A-Model payload (shares the same 64 B)

BYTE#	Field Name	Data Type	Value	Remarks
1023	_tModel._tAModel	ROBOT_MONITORING_AMODEL		Uses Union B region when A-Model payload is provided.
1023	_tModel._szReserved	unsigned char[64]		Same memory as above when not used.

Union C — Flange I/O config (shares the same 56 B)

BYTE#	Field Name	Data Type	Value	Remarks
1087	_tFlangeIo._tConfig	MONITORING_FLANGE_IO_CONFIG		Uses Union C region when flange I/O config is provided.
1087	_tFlangeIo._szReserved	unsigned char[56]		Same memory as above when not used.

Total size: 1143 bytes

Defined in: DRFS.h

typedef struct _MONITORING_DATA_EX
{
    MONITORING_CONTROL_EX  _tCtrl;   // 809 B
    MONITORING_MISC        _tMisc;   // 94 B

    union { MONITORING_FORCECONTROL       _tCtrlEx;  unsigned char _szReserved1[120]; } _tMiscEx;
    union { MONITORING_AMODEL             _tAModel;  unsigned char _szReserved[64];  } _tModel;
    union { MONITORING_FLANGE_IO_CONFIG   _tConfig;  unsigned char _szReserved[56];  } _tFlangeIo;
} MONITORING_DATA_EX, *LPMONITORING_DATA_EX;

Note

• Union = shared memory. In each union group (A/B/C) only one member is valid at a time.

• If a feature is disabled, the corresponding union member is exposed as a reserved byte array of the same size.

• This preserves packet size/offsets across firmware versions while enabling future expansion.