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Home / Iop_v2ServiceSet / ReportManipulatorEndEffectorForceTorque

Message ReportManipulatorEndEffectorForceTorque

Message ID: D999h

Description:
This message is used to report the forces and torques experienced at the manipulator end effector, using the End Effector Coordinate System.

Message Format
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 ForceX Scaled Integer
Integer Size: Unsigned Integer
units newton true Force experienced in the X-direction of the End Effector Coordinate System.

Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 ForceY Scaled Integer
Integer Size: Unsigned Integer
units newton true Force experienced in the Y-direction of the End Effector Coordinate System.

Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
4 ForceZ Scaled Integer
Integer Size: Unsigned Integer
units newton true Force experienced in the Z-direction of the End Effector Coordinate System.

Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
5 TorqueX Scaled Integer
Integer Size: Unsigned Integer
units newton meter true Torque experienced around the X-axis of the End Effector Coordinate System.

Real Lower Limit: -1000000.0
Real Upper Limit: 1000000.0
6 TorqueY Scaled Integer
Integer Size: Unsigned Integer
units newton meter true Torque experienced around the Y-axis of the End Effector Coordinate System.

Real Lower Limit: -1000000.0
Real Upper Limit: 1000000.0
7 TorqueZ Scaled Integer
Integer Size: Unsigned Integer
units newton meter true Torque experienced around the Z-axis of the End Effector Coordinate System.

Real Lower Limit: -1000000.0
Real Upper Limit: 1000000.0



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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