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Home / Manipulator_v2_0ServiceSet / ReportPanTiltSpecifications

Message ReportPanTiltSpecifications

Message ID: 4620h

Description:
This message provides the joint angle and joint velocity limits for the pan tilt mechanism.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: PanTiltCoordinateSysX
Bit 1: PanTiltCoordinateSysY
Bit 2: PanTiltCoordinateSysZ
Bit 3: DComponentOfUnitQuaternionQ
Bit 4: AComponentOfUnitQuaternionQ
Bit 5: BComponentOfUnitQuaternionQ
Bit 6: CComponentOfUnitQuaternionQ
2 PanTiltCoordinateSysX Scaled Integer
Integer Size: Unsigned Integer		 units meter true x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system

Real Lower Limit: -30.0
Real Upper Limit: 30.0
3 PanTiltCoordinateSysY Scaled Integer
Integer Size: Unsigned Integer		 units meter true x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system

Real Lower Limit: -30.0
Real Upper Limit: 30.0
4 PanTiltCoordinateSysZ Scaled Integer
Integer Size: Unsigned Integer		 units meter true x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system

Real Lower Limit: -30.0
Real Upper Limit: 30.0
5 DComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one true quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
6 AComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one true quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
7 BComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one true quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
8 CComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer		 units one true quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

Real Lower Limit: -1.0
Real Upper Limit: 1.0
9 Joint1MinValue Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
10 Joint1MaxValue Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
11 Joint1MaxSpeed Scaled Integer
Integer Size: Unsigned Integer		 units radians per second false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793
12 Joint2MinValue Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
13 Joint2MaxValue Scaled Integer
Integer Size: Unsigned Integer		 units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
14 Joint2MaxSpeed Scaled Integer
Integer Size: Unsigned Integer		 units radians per second false Real Lower Limit: 0.0
Real Upper Limit: 31.41592653589793


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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 as6057a-manipulator.ojss