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Home / Manipulator_v2_0ServiceSet / ReportCommandedActuatorForceTorques

Message ReportCommandedActuatorForceTorques

Message ID: 4613h

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

ReportCommandedActuatorForceTorques
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



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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 08/03/2017 from AS6057A-Manipulator_v2_0.ojss