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MONITORING_MISC

This structure provides miscellaneous monitoring data such as internal clock counter, flange I/O status, brake and button states, and motor electrical information. It is used internally to track auxiliary signals and robot status in real time.

BYTE#	Field Name	Data Type	Value	Remarks
0	_dSyncTime	double		Internal clock counter (synchronization time)
8	_iActualDI	unsigned char[6]		Flange Digital Input status (6 channels)
14	_iActualDO	unsigned char[6]		Flange Digital Output status (6 channels)
20	_iActualBK	unsigned char[6]		Brake state of each joint (0: Released, 1: Locked)
26	_iActualBT	unsigned int[5]		Robot button state (5 buttons; on/off status)
46	_fActualMC	float[6]		Motor input current (per joint, in amperes)
70	_fActualMT	float[6]		Motor temperature per joint (°C)

Total size: 94 bytes

Defined in: DRFS.h

typedef struct _MONITORING_MISC
{
    /* inner clock counter */
    double         _dSyncTime;
    /* Flange Digital Input data */
    unsigned char  _iActualDI[NUM_FLANGE_IO];
    /* Flange Digital Output data */
    unsigned char  _iActualDO[NUM_FLANGE_IO];
    /* Brake state */
    unsigned char  _iActualBK[NUM_JOINT];
    /* Robot button state */
    unsigned int   _iActualBT[NUM_BUTTON];
    /* Motor input current */
    float          _fActualMC[NUM_JOINT];
    /* Motor temperature */
    float          _fActualMT[NUM_JOINT];
} MONITORING_MISC, *LPMONITORING_MISC;

Note

• _iActualBK corresponds to the joint brake status (0: released, 1: locked).

• _iActualBT represents the on/off state of five physical robot buttons.

• _fActualMC and _fActualMT allow temperature/current monitoring per joint.