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Home / MobilityServiceSet / ReportWrenchEffort

Message ReportWrenchEffort

Message ID: 4405h

Description:
This message is used to provide the receiver the current values of the commanded wrench effort. The message data and mapping of the presence vector for this message are identical to ID 0405 h: SetWrenchEffort.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: PropulsiveLinearEffortX
Bit 1: PropulsiveLinearEffortY
Bit 2: PropulsiveLinearEffortZ
Bit 3: PropulsiveRotationalEffortX
Bit 4: PropulsiveRotationalEffortY
Bit 5: PropulsiveRotationalEffortZ
Bit 6: ResistiveLinearEffortX
Bit 7: ResistiveLinearEffortY
Bit 8: ResistiveLinearEffortZ
Bit 9: ResistiveRotationalEffortX
Bit 10: ResistiveRotationalEffortY
Bit 11: ResistiveRotationalEffortZ
2 PropulsiveLinearEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
3 PropulsiveLinearEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
4 PropulsiveLinearEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
5 PropulsiveRotationalEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
6 PropulsiveRotationalEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
7 PropulsiveRotationalEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
8 ResistiveLinearEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
9 ResistiveLinearEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
10 ResistiveLinearEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
11 ResistiveRotationalEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
12 ResistiveRotationalEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
13 ResistiveRotationalEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0



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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 09/11/2015 from AS6009-Mobility.ojss