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Message ReportForceTorque

Message ID: D993h

Description:
This message is used to report the measured force/torque for one or more sensing devices.

ReportForceTorque
ReportForceTorqueList

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


ReportForceTorqueList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: ForceX
Bit 1: ForceY
Bit 2: ForceZ
Bit 3: TorqueX
Bit 4: TorqueY
Bit 5: TorqueZ
2 SensorID Unsigned Short units one false The ID of the sensor. A value of zero (0) is not allowed
3 CoordinateSystem Enumeration
Integer Size: Unsigned Byte
one false Enumeration Values:
0: NativeCoordinateSystems
1: VehicleCoordinateSystems
4 ForceX Scaled Integer
Integer Size: Unsigned Short
units newton true Current force measured in the X-direction

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
5 ForceY Scaled Integer
Integer Size: Unsigned Short
units newton true Current force measured in the Y-direction

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
6 ForceZ Scaled Integer
Integer Size: Unsigned Short
units newton true Current force measured in the Z-direction

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
7 TorqueX Scaled Integer
Integer Size: Unsigned Short
units newton meter true Current torque measured around the X-axis

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
8 TorqueY Scaled Integer
Integer Size: Unsigned Short
units newton meter true Current torque measured around the Y-axis

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
9 TorqueZ Scaled Integer
Integer Size: Unsigned Short
units newton meter true Current torque measured around the Z-axis

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0



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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 09/25/2017 from iop_v2.ojss