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ROBOT_MONITORING_JOINT

This structure provides real-time joint monitoring data of the robot. Each field contains an array of values corresponding to each joint (NUM_JOINT = 6).

BYTE#	Field Name	Data Type	Value	Remarks
0	_fActualPos	float[6]		Position actual value in INC units.
24	_fActualAbs	float[6]		Position actual value in ABS units.
48	_fActualVel	float[6]		Actual velocity of each joint.
72	_fActualErr	float[6]		Position error of each joint.
96	_fTargetPos	float[6]		Target position command value.
120	_fTargetVel	float[6]		Target velocity command value.

Total size: 144 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_JOINT
{
    float _fActualPos[NUM_JOINT];  /* Position Actual Value in INC */
    float _fActualAbs[NUM_JOINT];  /* Position Actual Value in ABS */
    float _fActualVel[NUM_JOINT];  /* Velocity Actual Value */
    float _fActualErr[NUM_JOINT];  /* Joint Error */
    float _fTargetPos[NUM_JOINT];  /* Target Position */
    float _fTargetVel[NUM_JOINT];  /* Target Velocity */
} ROBOT_MONITORING_JOINT, *LPROBOT_MONITORING_JOINT;