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ROBOT_MONITORING_USER

This structure provides real-time monitoring data of the robot in the user coordinate system. It includes the active user coordinate number, its parent frame, task-space values (position, velocity, force/torque), and the 3×3 orientation rotation matrix.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iActualUCN	unsigned char	0 ~ 255	Actual user coordinate number.
1	_iParent	unsigned char	0 or 2	Parent frame (0: Base frame, 2: World frame)
2	_fActualPos	float[2][6]		Position actual values (0: tool frame, 1: flange frame)
50	_fActualVel	float[6]		Actual velocity values in user coordinates.
74	_fActualETT	float[6]		External task force/torque (Fx, Fy, Fz, Tx, Ty, Tz).
98	_fTargetPos	float[6]		Target position in user coordinate frame.
122	_fTargetVel	float[6]		Target velocity in user coordinate frame.
146	_fRotationMatrix	float[3][3]		3x3 rotation matrix representing orientation of the tool in user coordinates.

Total size: 182 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_USER
{
    unsigned char _iActualUCN;                     /* actual user coord no */
    unsigned char _iParent;                        /* base:0, world:2 */
    float         _fActualPos[2][NUMBER_OF_JOINT]; /* Position Actual (0:tool,1:flange) */
    float         _fActualVel[NUMBER_OF_JOINT];    /* Velocity Actual */
    float         _fActualETT[NUMBER_OF_JOINT];    /* External Task Force/Torque */
    float         _fTargetPos[NUMBER_OF_JOINT];    /* Target Position */
    float         _fTargetVel[NUMBER_OF_JOINT];    /* Target Velocity */
    float         _fRotationMatrix[3][3];          /* Rotation Matrix */
} ROBOT_MONITORING_USER, *LPROBOT_MONITORING_USER;