MONITORING_DATA

This structure aggregates overall robot monitoring information, combining control-related data (state, joint, task, torque) and miscellaneous I/O data (clock, I/O, brake, button, current, temperature). It serves as the top-level monitoring packet received from the robot controller.

BYTE#

Field Name

Data Type

Value

Remarks

0

_tCtrl

MONITORING_CONTROL

Control-related monitoring data (state, joint, task, torque)

423

_tMisc

MONITORING_MISC

Miscellaneous data (clock, I/O, brake, buttons, current, temperature)

Total size: 517 bytes

Defined in: DRFS.h

typedef struct _MONITORING_DATA
{
    MONITORING_CONTROL          _tCtrl;
    /* misc. */
    MONITORING_MISC             _tMisc;

} MONITORING_DATA, *LPMONITORING_DATA;

Note

  • _tCtrl corresponds to MONITORING_CONTROL, which includes robot state, joint, task, and torque information.

  • _tMisc corresponds to MONITORING_MISC, containing controller I/O and thermal data.

  • Together, they form the complete robot monitoring packet periodically updated by the controller.