OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / ManipulatorServiceSet / PrimitiveEndEffector

PrimitiveEndEffector

Version: 1.0
ID: urn:jaus:jss:manipulator:PrimitiveEndEffector
Inherits From:
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

Description:
This service is the low level interface to an end effector. The End Effector is a one degree of freedom manipulator, usually mounted on the end of an n-degree of freedom manipulator.

Internal Event Set
None


Message Set
Message ID Name
2633h QueryEndEffectorEffort
2632h QueryEndEffectorSpecification
4633h ReportEndEffectorEffort
4632h ReportEndEffectorSpecification
0633h SetEndEffectorEffort

State Machine Diagram

PrimitiveEndEffector State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B PrimitiveEndEffectorControlledLoop SetEndEffectorEffort isControllingClient setEndEffectorEffort
A PrimitiveEndEffectorDefaultLoop QueryEndEffectorEffort sendReportEndEffectorEffort
QueryEndEffectorSpecification sendReportEndEffectorSpecification


Actions
Action Name Type Description
sendReportEndEffectorEffort Send Action Send a report End Effector effort message
Output Message: ReportEndEffectorEffort
sendReportEndEffectorSpecification Send Action Send a report End Effector spec message
Output Message: ReportEndEffectorSpecification
setEndEffectorEffort Set the effort for the end effector



OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 09/11/2015 from AS6057-Manipulator.ojss