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Home / Manipulator_v2_0ServiceSet / SetJointEffort

Message SetJointEffort

Message ID: 0601h

Description:
This message is used to control joint actuators in an open loop fashion. The command states the percentage level of effort that each actuator should exercise in order to move its corresponding joint. The message must contain effort commands for each joint in the manipulator.

SetJointEffort
JointEffortList

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


JointEffortList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 Joint2Effort Scaled Integer
Integer Size: Unsigned Short		 units one false Percent of maximum effort for this joint. Each joint must have a corresponding entry in the list.

Real Lower Limit: -100.0
Real Upper Limit: 100.0


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Generated on 07/17/2019 from as6057a-manipulator.ojss