ROBOT_MONITORING_SENSOR

This structure provides real-time monitoring data from both external and internal sensors, including force/torque, current, and acceleration sensor readings.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fActualFTS	float[6]		Force/Torque sensor values (Fx, Fy, Fz, Tx, Ty, Tz)
24	_fActualCS	float[6]		Current sensor values for each joint.
48	_fActualACS	float[3]		Acceleration sensor values (X, Y, Z).

Total size: 60 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_SENSOR
{
    float _fActualFTS[NUMBER_OF_JOINT];  /* Force Torque Sensor Value */
    float _fActualCS[NUMBER_OF_JOINT];   /* Current Sensor Value */
    float _fActualACS[3];                /* Accelerate Sensor Value */
} ROBOT_MONITORING_SENSOR, *LPROBOT_MONITORING_SENSOR;

Note

• _fActualFTS corresponds to the 6-axis force/torque sensor.

• _fActualCS provides per-joint current readings.

• _fActualACS represents the acceleration values (X, Y, Z).