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.

ROBOT_MONITORING_DATA

This structure aggregates monitoring sections (state, joint, task, torque) into one packet.

BYTE#	Field Name	Data Type	Value	Remarks
0	_tState	ROBOT_MONITORING_STATE		Control-related Information
2	_tJoint	ROBOT_MONITORING_JOINT		Joint Space Information
146	_tTask	ROBOT_MONITORING_TASK		Task Space Information
327	_tTorque	ROBOT_MONITORING_TORQUE		Torque and External Force Information
423	Other Robot-related Input Information	see table below		Internal supplemental data

Total size: 519 bytes

Other Robot-related Input Information is composed of other robot-related input/output information as follows. (Reference-only; not part of the public SDK structure.)

BYTE#	Field Name	Data Type	Value	Remarks
0	Time Information	double		Internal clock counter
8	I/O Information (#1)	unsigned char[6]		Six digital inputs (edge)
14	I/O Information (#2)	unsigned char[6]		Six digital outputs (edge)
20	Brake Information	unsigned char[6]		Six brake states (0: released, 1: locked)
26	Button Information	unsigned int[5]		Five robot buttons on/off
46	Current Information	float[6]		Six motors’ current consumption
70	Temperature Information	float[6]		Six inverters temperature
94	Reserved (padding)	unsigned char[2]		Padding to align the block size to 96 B

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_DATA
{
    ROBOT_MONITORING_STATE   _tState;    /* 2 bytes */
    ROBOT_MONITORING_JOINT   _tJoint;    /* 144 bytes */
    ROBOT_MONITORING_TASK    _tTask;     /* 181 bytes (packed layout as per controller manual) */
    ROBOT_MONITORING_TORQUE  _tTorque;   /* 96 bytes */
} MONITORING_CONTROL, *LPMONITORING_CONTROL;