OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / ManipulatorServiceSet / SetJointVelocity

Message SetJointVelocity

Message ID: 0603h

Description:
This message sets the desired joint velocity values. The message must contain a velocity command for each joint in the manipulator.

SetJointVelocity
JointVelocityList
JointVelocity

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


JointVelocityList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 JointVelocity Variant varies false Scaled integer representing the command velocity for this joint. Each joint must have a corresponding entry in the list. Units and scale range are based on the joint type.


JointVelocity
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 Option0 Scaled Integer
Integer Size: Unsigned Integer
units radians per second false Real Lower Limit: -31.41592653589793
Real Upper Limit: 31.41592653589793
1 Option1 Scaled Integer
Integer Size: Unsigned Integer
units meters per second false Real Lower Limit: -5.0
Real Upper Limit: 5.0



OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
Portions Copyright © OpenJAUS LLC.
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 AS6057-Manipulator.ojss