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

BYTE#

Field Name

Data Type

Value

Remarks

Control Mode

uchar

0x00~0x01

Position Control : 0

Torque Control : 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.