.. _struct_ROBOT_MONITORING_DATA:
.. _struct_MONITORING_CONTROL:

ROBOT_MONITORING_DATA
=====================

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

.. list-table::
   :widths: 10 28 15 8 39
   :header-rows: 1

   * - **BYTE#**
     - **Field Name**
     - **Data Type**
     - **Value**
     - **Remarks**
   * - 0
     - ``_tState``
     - :ref:`ROBOT_MONITORING_STATE <struct_ROBOT_MONITORING_STATE>`
     - -
     - Control-related Information
   * - 2
     - ``_tJoint``
     - :ref:`ROBOT_MONITORING_JOINT <struct_ROBOT_MONITORING_JOINT>`
     - -
     - Joint Space Information
   * - 146
     - ``_tTask``
     - :ref:`ROBOT_MONITORING_TASK <struct_ROBOT_MONITORING_TASK>`
     - -
     - Task Space Information
   * - 327
     - ``_tTorque``
     - :ref:`ROBOT_MONITORING_TORQUE <struct_ROBOT_MONITORING_TORQUE>`
     - -
     - Torque and External Force Information

Total size: 423 bytes

In :ref:`MONITORING_DATA <struct_MONITORING_DATA>`, this structure is followed by :ref:`MONITORING_MISC <struct_MONITORING_MISC>` (94 bytes) at byte 423.

**Defined in:** ``DRFS.h``

.. code-block:: cpp

   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;