MONITORING_FORCECONTROL

This structure provides real-time monitoring data for force control mode, including button state, external task force/torque, temperature, and control status. It is mainly used to observe compliance / force control behavior and the current robot dynamics.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iActualBS	unsigned char[NUMBER_OF_BUTTON]		Digital button states (0: off, 1: on)
6	_fActualCS	float[NUMBER_OF_JOINT]		Current sensor values per joint
30	_fSingularity	float		Singularity index (minimum singular value)
34	_fToolActualETT	float[NUMBER_OF_JOINT]		Tool coordinate external force/torque (Fx, Fy, Fz, Tx, Ty, Tz)
58	_iForceControlMode	unsigned char[NUMBER_OF_JOINT]	0-2	Force control mode per joint (0: Compliance, 1: Force, 2: None)
64	_iReferenceCoord	unsigned char	0-120	Reference coordinate (0: Base, 1: Tool, 2: World, 101-120: User)
65	_iAutoAccMode	unsigned char	0/1	Auto acceleration mode flag
66	_fActualHDT	float[NUMBER_OF_JOINT]		Reducer (harmonic drive) temperature (°C)
90	_iSingularHandlingMode	unsigned char		Singular handling mode flag
91	_isMoving	unsigned char		Robot moving status (0: stopped, 1: moving)
92	_iOperationSpeed	unsigned char	0-100	Current operation speed percentage
93	reserved	unsigned char		Reserved for future use

Total size: 94 bytes

Defined in: DRFS.h

typedef struct _MONITORING_FORCECONTROL
{
    unsigned char _iActualBS[NUMBER_OF_BUTTON];     /* Digital button state */
    float          _fActualCS[NUMBER_OF_JOINT];     /* Current sensor */
    float          _fSingularity;                   /* Singularity index */
    float          _fToolActualETT[NUMBER_OF_JOINT];/* Tool Coord External Task Force/Torque */
    unsigned char  _iForceControlMode[NUMBER_OF_JOINT]; /* 0:Compliance, 1:Force, 2:None */
    unsigned char  _iReferenceCoord;                /* 0:Base, 1:Tool, 2:World, 101~120:User */
    unsigned char  _iAutoAccMode;                   /* Auto acceleration mode flag */
    float          _fActualHDT[NUMBER_OF_JOINT];    /* Reducer temperature */
    unsigned char  _iSingularHandlingMode;          /* Singular Handling Mode */
    unsigned char  _isMoving;                       /* Moving status (0:stop, 1:move) */
    unsigned char  _iOperationSpeed;                /* Operation speed (0–100%) */
    unsigned char  reserved;                        /* Reserved */
} MONITORING_FORCECONTROL, *LPMONITORING_FORCECONTROL;

Note

• _iForceControlMode: per-joint control type (0 = compliance, 1 = force, 2 = none)

• _fToolActualETT: task-space external wrench (Fx, Fy, Fz, Tx, Ty, Tz)

• _fActualHDT: reducer temperature values, useful for thermal monitoring

• _fSingularity: helps detect near-singular kinematic configurations

• This structure is typically used in force control / compliance operations.