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Home / Manipulator_v2_0ServiceSet / ManipulatorToolOffset

ManipulatorToolOffset

Version: 2.0
ID: urn:jaus:jss:manipulator:ManipulatorToolOffsetService
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 Manipulator Tool Offset Service is to configure the position offset of any tool attached to the manipulator flange.

Internal Event Set
None


Message Set
Message ID Name
2604h QueryToolOffset
4604h ReportToolOffset
0604h SetToolOffset

State Machine Diagram

ManipulatorToolOffset State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B ManipulatorToolOffsetControlledLoop SetToolOffset isControllingClient setToolOffset
A ManipulatorToolOffsetDefaultLoop QueryToolOffset sendReportToolOffset


Actions
Action Name Type Description
sendReportToolOffset Send Action Send a report tool offset message
Output Message: ReportToolOffset
setToolOffset Set the location of the tool tip as measured in the end effector coordinate system.


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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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