ROBOT_MONITORING_STATE

This structure provides information on the robot’s current control mode and control space. It indicates whether the robot operates in position or torque control, and in joint or task space.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iActualMode	unsigned char	0 ~ 1	Actual Control Mode 0: Position Control 1: Torque Control
1	_iActualSpace	unsigned char	1 ~ 2	Actual Control Space 1: Joint Space 2: Task Space

Total size: 2 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_STATE
{
    unsigned char _iActualMode;   /* position control: 0, torque control: 1 */
    unsigned char _iActualSpace;  /* joint space: 1, task space: 2 */
} ROBOT_MONITORING_STATE, *LPROBOT_MONITORING_STATE;