ROBOT_MONITORING_DATA

This structure aggregates the monitoring sections (state, joint, task, torque).

BYTE#	Field Name	Data Type	Value	Remarks
0	_tState	ROBOT_MONITORING_STATE		Control-related Information
2	_tJoint	ROBOT_MONITORING_JOINT		Joint Space Information
146	_tTask	ROBOT_MONITORING_TASK		Task Space Information
327	_tTorque	ROBOT_MONITORING_TORQUE		Torque and External Force Information

Total size: 423 bytes

In MONITORING_DATA, this structure is followed by MONITORING_MISC (94 bytes) at byte 423.

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_DATA
{
    ROBOT_MONITORING_STATE   _tState;    /* 2 bytes */
    ROBOT_MONITORING_JOINT   _tJoint;    /* 144 bytes */
    ROBOT_MONITORING_TASK    _tTask;     /* 181 bytes (packed layout as per controller manual) */
    ROBOT_MONITORING_TORQUE  _tTorque;   /* 96 bytes */
} MONITORING_CONTROL, *LPMONITORING_CONTROL;