This file is part of the OpenJAUS HTML JAUS Reference. |
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Home / Manipulator_v2_0ServiceSet / SetJointMotionProfile |
SetJointMotionProfile | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
JointMotionProfileList | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
JointType |
Message Format | |||||
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Field # | Field | Type | Units | Optional | Interpretation |
1 | JointMotionProfileList | List | false |
JointMotionProfileList | |||||
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Count Field: Unsigned Byte | |||||
Field # | Field | Type | Units | Optional | Interpretation |
1 | JointType | Variant | varies | false |
JointType | |||||
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Type Enum Size: Unsigned Byte | |||||
Enum Value | Name | Type | Units | Optional | Interpretation |
0 | RevoluteJointMotionProfileRecord | Record | false | ||
1 | PrismaticJointMotionProfileRecord | Record | false |
RevoluteJointMotionProfileRecord | |||||
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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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