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Home / Iop_v3ServiceSet / ReportForceTorqueCapabilities

Message ReportForceTorqueCapabilities

Message ID: D992h

Description:
This message is used to report the capabilities of one or more force/torque sensing devices.

ReportForceTorqueCapabilities
ReportForceTorqueCapabilitiesList

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


ReportForceTorqueCapabilitiesList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: CoordinateTransformSupported
Bit 1: MinForceX
Bit 2: MaxForceX
Bit 3: MinForceY
Bit 4: MaxForceY
Bit 5: MinForceZ
Bit 6: MaxForceZ
Bit 7: MinTorqueX
Bit 8: MaxTorqueX
Bit 9: MinTorqueY
Bit 10: MaxTorqueY
Bit 11: MinTorqueZ
Bit 12: MaxTorqueZ
2 SensorID Unsigned Short units one false The ID of the sensor. A value of zero (0) means all sensors
3 SensorName VariableLengthString
Count Size: Unsigned Byte		 one false
4 CoordinateTransformSupported Enumeration
Integer Size: Unsigned Byte		 one true True or false depending on if the service supports transforming data into the vehicle coordinate system.

Enumeration Values:
0: CoordinateTransformSupported_False
1: CoordinateTransformSupported_True
5 MinForceX Scaled Integer
Integer Size: Unsigned Short		 units newton true Most negative force measurable in the X-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
6 MaxForceX Scaled Integer
Integer Size: Unsigned Short		 units newton true Most positive force measurable in the X-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
7 MinForceY Scaled Integer
Integer Size: Unsigned Short		 units newton true Most negative force measurable in the Y-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
8 MaxForceY Scaled Integer
Integer Size: Unsigned Short		 units newton true Most positive force measurable in the Y-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
9 MinForceZ Scaled Integer
Integer Size: Unsigned Short		 units newton true Most negative force measurable in the Z-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
10 MaxForceZ Scaled Integer
Integer Size: Unsigned Short		 units newton true Most positive force measurable in the Z-direction.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
11 MinTorqueX Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most negative torque measurable around the X-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
12 MaxTorqueX Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most positive torque measurable around the X-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
13 MinTorqueY Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most negative torque measurable around the Y-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
14 MaxTorqueY Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most positive torque measurable around the Y-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
15 MinTorqueZ Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most negative torque measurable around the Z-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0
16 MaxTorqueZ Scaled Integer
Integer Size: Unsigned Short		 units newton meter true Most positive torque measurable around the Z-axis.

Real Lower Limit: -5000.0
Real Upper Limit: 5000.0


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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 07/17/2019 from iop_v3.ojss