This file is part of the OpenJAUS HTML JAUS Reference. |
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Home / Iop_v3ServiceSet / ReportMassProperties |
ReportMassProperties | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
MassPropertyList | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
CoordinateFrameVar | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
MassPropertiesRecord |
Message Format | |||||
---|---|---|---|---|---|
Field # | Field | Type | Units | Optional | Interpretation |
1 | MassPropertyList | List | false |
MassPropertyList | |||||
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Count Field: Unsigned Byte | |||||
Field # | Field | Type | Units | Optional | Interpretation |
1 | CoordinateFrameVar | Variant | varies | false | |
2 | MassPropertiesRecord | Record | false |
CoordinateFrameVar | |||||
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Type Enum Size: Unsigned Byte | |||||
Enum Value | Name | Type | Units | Optional | Interpretation |
0 | ModuleFrameVariant | Variant | varies | false | |
1 | LinkFrameRecord | Record | false | ||
2 | StabilizerFrameRecord | Record | false | ||
3 | AttachmentFrameRecord | Record | false |
ModuleFrameVariant | |||||
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Type Enum Size: Unsigned Byte | |||||
Enum Value | Name | Type | Units | Optional | Interpretation |
LinkFrameRecord | |||||
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Field # | Field | Type | Units | Optional | Interpretation |
1 | LinkIndex | Unsigned Byte | units one | false | Index of the serial manipulator link for the selected coordinate frame. |
StabilizerFrameRecord | |||||
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Field # | Field | Type | Units | Optional | Interpretation |
1 | StabilizerID | Unsigned Byte | units one | false | ID of the stabilizer which the coordinate frame is representing |
AttachmentFrameRecord | |||||
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Field # | Field | Type | Units | Optional | Interpretation |
1 | HostNodeID | Unsigned Byte | units one | false | Node ID of the module that hosts the attachment point |
2 | AttachmentID | Unsigned Byte | units one | false | ID of the attachment which the coordinate frame is representing |
MassPropertiesRecord | |||||
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Field # | Field | Type | Units | Optional | Interpretation |
1 | Presence Vector | Unsigned Short | one | false |
Bit 0: CenterOfMassX Bit 1: CenterOfMassY Bit 2: CenterOfMassZ Bit 3: MomentOfInertialTensorXX Bit 4: MomentOfInertialTensorXY Bit 5: MomentOfInertialTensorXZ Bit 6: MomentOfInertialTensorYY Bit 7: MomentOfInertialTensorYZ Bit 8: MomentOfInertialTensorZZ |
2 | Mass | Scaled Integer Integer Size: Unsigned Integer |
units kilogram | false | Mass of the component. A value of zero is recognized as invalid. Real Lower Limit: 0.0 Real Upper Limit: 10000.0 |
3 | CenterOfMassX | Scaled Integer Integer Size: Unsigned Integer |
units meter | true |
Real Lower Limit: -500.0 Real Upper Limit: 500.0 |
4 | CenterOfMassY | Scaled Integer Integer Size: Unsigned Integer |
units meter | true |
Real Lower Limit: -500.0 Real Upper Limit: 500.0 |
5 | CenterOfMassZ | Scaled Integer Integer Size: Unsigned Integer |
units meter | true |
Real Lower Limit: -500.0 Real Upper Limit: 500.0 |
6 | MomentOfInertialTensorXX | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared | |
7 | MomentOfInertialTensorXY | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared | |
8 | MomentOfInertialTensorXZ | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared | |
9 | MomentOfInertialTensorYY | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared | |
10 | MomentOfInertialTensorYZ | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared | |
11 | MomentOfInertialTensorZZ | Float | true | Moment of inertia of the component (relative to center of mass) in kilogram meters squared |
Copyright © SAE International. Reprinted with Permission. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Generated on 07/17/2019 from iop_v3.ojss |