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Home / Iop_v3ServiceSet / ReportMassProperties

Message ReportMassProperties

Message ID: FC40h

Description:
ReportMassProperties returns a list of mass properties. Each sequence in the list includes an identifying index for the coordinate system and a mass records in that coordinate system. Each mass record provides the mass and center of mass location for an element. Most components will consist of only one such element; others, such as a Manipulator, will be represented by a group of elements, so that the changing configuration of the Manipulator can be represented (and its center of mass determined).

ReportMassProperties
MassPropertyList
CoordinateFrameVar
MassPropertiesRecord

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


MassPropertyList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 CoordinateFrameVar Variant varies false
2 MassPropertiesRecord Record false


CoordinateFrameVar
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
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation


LinkFrameRecord
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
Field # Field Type Units Optional Interpretation
1 StabilizerID Unsigned Byte units one false ID of the stabilizer which the coordinate frame is representing


AttachmentFrameRecord
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
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


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Generated on 07/17/2019 from iop_v3.ojss