set_on_monitoring_data_ex

This function registers an extended callback that monitors the robot’s operation data, such as joint positions and user coordinates, in real time. It is available only in M2.5 version or higher and is activated when the monitoring data version is set to 1 using the setup_monitoring_version function.

Definition
DRFLEx.h within class CDRFLEx, public section

void set_on_monitoring_data_ex(TOnMonitoringDataExCB pCallbackFunc) {
    _set_on_monitoring_data_ex(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMonitoringDataExCB		Extended data callback function pointer to handle real-time monitoring updates

Return
None

Note

See Rules for callback functions.

Example

void OnMonitoringDataExCB(const LPMONITORING_DATA_EX pData)
{
    printf("user-frame task position %.1f, %.1f, %.1f, %.1f, %.1f, %.1f\n", pData->_tCtrl._tUser._fActualPos[0][0], pData->_tCtrl._tUser._fActualPos[0][1], pData->_tCtrl._tUser._fActualPos[0][2], pData->_tCtrl._tUser._fActualPos[0][3], pData->_tCtrl._tUser._fActualPos[0][4], pData->_tCtrl._tUser._fActualPos[0][5]);
}

drfl.set_on_monitoring_data_ex(OnMonitoringDataExCB);

This example registers an extended monitoring callback that continuously prints the robot’s user-frame task position (row 0 = tool) in real time. It requires the monitoring version to be set to 1 for activation.