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 / ReportCommandedActuatorForceTorque

Message ReportCommandedActuatorForceTorque

Message ID: 4613h

Description:
This message provides the receiver with the commanded actor force/torques for the manipulator.

ReportCommandedActuatorForceTorque
ActuatorForceTorqueList
JointForceTorque

Message Format
Field # Field Type Units Optional Interpretation
1 ActuatorForceTorqueList List false


ActuatorForceTorqueList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 JointForceTorque Variant varies false Scaled integer representing the command force or torque for this joint. Each joint must have a corresponding entry in the list. Units and scale range are based on the joint type.


JointForceTorque
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 Option0 Scaled Integer
Integer Size: Unsigned Integer
units newton meter false Real Lower Limit: -1000.0
Real Upper Limit: 1000.0
1 Option1 Scaled Integer
Integer Size: Unsigned Integer
units newton false Real Lower Limit: -500.0
Real Upper Limit: 500.0



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