Skip to main content
Skip table of contents

struct.MONITORING_DATA_EX

This is structure information for checking robot operation data information of the robot controller, and is composed of the following information on seven operations.

BYTE#

Field Name

Data Type

Value

Remarks

0

Operation Information(#1)

-

-

Control-related Information

2

Operation Information(#2)

-

-

Joint Space Information

146

Operation Information(#3)

-

-

Task Space Information

327

Operation Information(#4)

-

-

Torque and External Force Information

439

Operation Information(#5)

-

-

World Space Information

643

Operation Information(#6)

-

-

User Space Information

825

Operation Information(#7)

-

-

Other Robot-related Input Information

919

Reserved Space(#1)

-

-

120 bytes Reserved Space

1039

Reserved Space(#2)

-

-

120 bytes Reserved Space

Operation Information(#1) is composed of control mode information about current robot motions as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Control Mode

uchar

0x00~0x01

Position Control : 0

Torque Control : 1

1

Control Space

uchar

0x00~0x01

Joint Angle Space : 0

Task Coordinate Space : 1


Operation Information(#2)는 is composed of control input/output mode information about robot motions in joint space (based on robot joint) as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Location Information

float

-

Information on Six Current Joint Angles

24

Location Information

float

-

Information on Six Current Joint Angles

(Absolute Encoder)

48

Velocity Information

float

-

Information on Six Current Joint Velocity

72

Error Information

float

-

Information on Six Current Joint Errors

96

Location Information

float

-

Information on Six Targets Joint Location

120

Location Information

float

-

Information on Six Targets Joint Velocity


Operation Information(#3) is composed of control input/output information about robot motions in joint space (based on tool installed in robot flange) as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Location Information

(Tool)

float

-

Information on

Six Current Tool Locations

24

Location Information

(Flange)

float

-

Information on Six Current Flange Locations

48

Velocity Information

float

-

Information on Six Current Tool Velocity

72

Error Information

float

-

Information on

Six Current Tool Errors

96

Location Information

float

-

Information on

Six Target Tool Locations

120

Velocity Information

float

-

Information on Six Targets Tool Velocity

144

Pose Information

uchar

0x00~0x07

Information on Robot Pose

145

Rotation Matrix

float

-

Information on 3x3 matrix

  • Pose information is one of eight pose information items that the robot can point to at one point.
  • The velocity information of operation information (#3) is the current and target velocity information of X, Y, Z, Rx, Ry, and Rz.


Operation information (#4) is composed of control input/output information about robot motions in torque control mode such as torque and external force as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Torque Information

float

-

Information on Six Currently Calculated Dynamic Torque

24

Torque Information

float

-

Information on Six currently measured

JTS sensor

48

External Force Information

float

-

Information on Six current joint External force by axis

72

External Force Information

float

-

Information on external force based on six current tools


Operation information (#5) is composed of other robot-related input/output information as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Relationship between World and Base coordinate systems

float

-

Information on Six position deviation

24

Location Information

(Tool)

float

-

Information on Six Current Tool Location

48

Location Information

(Flange)

float

-

Information on Six Current Flange Location

72

Velocity Information

float

-

Information on Six Current Tool Velocity

96

External Force Information

float

-

Information on Six Current Tool

External force by Axis

120

Location Information

float

-

Information on Six Target Tool Location

144

Velocity Information

float

-

Information on Six Target Tool Velocity

168

Rotation Matrix

float

-

Information on 3x3 matrix


Operation information (#6) is composed of control input/output information about robot motions in user space as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

User Coordinate ID

float

-

Coordinate ID(101~200)

1

Parent coordinate system of User coordinate system

float

-

Base : 0

World : 2

2

Location Information

(Tool)

float

-

Information on Six Current

Tool Location Information

26

Location Information

(Flange)

float

-

Information on Six Current Flange Location Information

50

Velocity Information

float

-

Information on Six Current Tool Velocity Information

74

External Force Information

float

-

Information on Six current tool External force by axis

98

Location Information

float

-

Information on Six Target Tool Location

122

Velocity Information

float

-

Information on Six Target Tool Velocity

146

Rotation Matrix

float

-

Information on 3x3 matrix


Operation information (#7) is composed of other robot-related input/output information as follows.

BYTE#

Field Name

Data Type

Value

Remarks

0

Time Information

double

-

Information on Internal Clock Counter

8

I/O Information (#1)

uchar

-

Information on Six Digital On/Off

14

I/O Information (#2)

uchar


Information on Six Digital On/Off

20

Brake Information

uchar

-

Information on state of six brakes

26

Button Information

uint


Information on five robot buttons

46

Current Information

float

-

Information on six motors’ current consumption

70

Temperature Information

float


Information on temperature of six inverters


Reserved Space (#1) is a reserve space for expansion of operational information.

The button information is the same as the button information of the operation information (# 7), but includes information in which the data type and button size have been changed.

BYTE#

Field Name

Data Type

Value

Remarks

0

Button Information

uchar

-

Information on six buttons

Reserved Space (# 2) is a reserve space for provided in the for a small model.

The following input / output information is provided in the for a small model.


BYTE#

Field Name

Data Type

Value

Remarks

0

Torque Information

float

-

Information on Six Mesured Current FTS sensor

24

Torque Information

float

-

Information on Six Measured Current CS sensor

48

Velocity Information

float

-

Information on three current measured acceleration sensor

60

Singularity Information

uchar

-

Minimum Singular Value

  • If the brake information is 0, it is unlocked, and if it is 1, it is locked and the robot cannot be operated (currently not supported).
  • Description of I / O information is as follows.


I/O Information

Description

I/O Information (#1)

Digital input information of 6 attached to the end of the robot

I/O Information (#2)

Digital output information of 6 attached to the end of the robot

  • Button information means On / Off status of 5 push buttons attached to 6 axis.
JavaScript errors detected

Please note, these errors can depend on your browser setup.

If this problem persists, please contact our support.