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Home / Manipulator_v2_0ServiceSet / ManipulatorJointMotionProfile

ManipulatorJointMotionProfile

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorJointMotionProfile
Inherits From:
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

Description:
The function of the Joint Motion Profile Service is to allow for configuration of the motion profile for all services co-located on this component. The Set Motion Profile message is used to set maximum velocity and acceleration rates for each of the joint parameters. All motions utilize the motion profile data that was most recently sent.

Internal Event Set
None


Message Set
Message ID Name
2607h QueryJointMotionProfile
4607h ReportJointMotionProfile
0607h SetJointMotionProfile

State Machine Diagram

ManipulatorJointMotionProfile State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B ManipulatorJointMotionProfileControlledLoop SetJointMotionProfile isControllingClient setJointMotionProfile
A ManipulatorJointMotionProfileDefaultLoop QueryJointMotionProfile motionProfileExists sendReportJointMotionProfile


Actions
Action Name Type Description
sendReportJointMotionProfile Send Action Send a Report Motion Profile message
Output Message: ReportJointMotionProfile
setJointMotionProfile Set the motion profile parameters for the manipulator.


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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.

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