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Home / Manipulator_v2_0ServiceSet / ReportJointForceTorques

Message ReportJointForceTorques

Message ID: 4605h

Description:
This message provides the receiver with the current values of the torques applied to revolute joints and forces applied to prismatic joints of the manipulator.

ReportJointForceTorques
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