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Home / Manipulator_v2_0ServiceSet / ReportJointMotionProfile

Message ReportJointMotionProfile

Message ID: 4607h

Description:
This message provides the receiver with the current motion profile.

ReportJointMotionProfile
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 RevoluteJointMotionProfileRecord Record false
1 PrismaticJointMotionProfileRecord Record false


RevoluteJointMotionProfileRecord
Field # Field Type Units Optional Interpretation
1 RevoluteJointMaxSpeed Scaled Integer
Integer Size: Unsigned Integer		 units radians per second false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
2 RevoluteJointMaxAccelerationRate Scaled Integer
Integer Size: Unsigned Integer		 units radians per second squared false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
3 RevoluteJointMaxDecelerationRate Scaled Integer
Integer Size: Unsigned Integer		 units radians per second squared false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793


PrismaticJointMotionProfileRecord
Field # Field Type Units Optional Interpretation
1 PrismaticJointMaxSpeed Scaled Integer
Integer Size: Unsigned Integer		 units meters per second false Real Lower Limit: 0.0
Real Upper Limit: 5.0
2 PrismaticJointMaxAccelerationRate Scaled Integer
Integer Size: Unsigned Integer		 units meters per second squared false Real Lower Limit: 0.0
Real Upper Limit: 20.0
3 PrismaticJointMaxDecelerationRate 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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