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Home / ManipulatorServiceSet / SetJointMotionProfile

Message SetJointMotionProfile

Message ID: 0607h

Description:
This message sets maximum speeds, acceleration, and deceleration rates for each joint of the manipulator. The message must contain a profile for each joint in the manipulator.

SetJointMotionProfile
JointMotionProfileList
JointType

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


JointMotionProfileList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 JointType Variant varies false


JointType
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 RevoluteJointMotionProfileRec Record false
1 PrismaticJointMotionProfileRec Record false


RevoluteJointMotionProfileRec
Field # Field Type Units Optional Interpretation
1 JointMaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units radians per second false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
2 JointMaxAccelerationRate Scaled Integer
Integer Size: Unsigned Integer
units radians per second squared false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
3 JointMaxDecelerationRate Scaled Integer
Integer Size: Unsigned Integer
units radians per second squared false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793


PrismaticJointMotionProfileRec
Field # Field Type Units Optional Interpretation
1 JointMaxSpeed Scaled Integer
Integer Size: Unsigned Integer
units meters per second false Real Lower Limit: 0.0
Real Upper Limit: 5.0
2 JointMaxAccelerationRate Scaled Integer
Integer Size: Unsigned Integer
units meters per second squared false Real Lower Limit: 0.0
Real Upper Limit: 20.0
3 JointMaxDecelerationRate Scaled Integer
Integer Size: Unsigned Integer
units meters per second squared false Real Lower Limit: 0.0
Real Upper Limit: 20.0



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Generated on 09/11/2015 from AS6057-Manipulator.ojss