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Home / Manipulator_v2_0ServiceSet / SetToolOffset

Message SetToolOffset

Message ID: 0604h

Description:
This message specifies the coordinates of the end-effector tool point (End Effector Pose) in terms of the End Effector Coordinate System. For a six-axis robot, this coordinate system is defined by having its origin located at the intersection of the S6 joint axis vector and the user defined link vector a67. The Z axis of the coordinate system is along S6 and the X axis is along the a67 vector.

Message Format
Field # Field Type Units Optional Interpretation
1 ToolPointCoordinateX Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -15.0
Real Upper Limit: 15.0
2 ToolPointCoordinateY Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -15.0
Real Upper Limit: 15.0
3 ToolPointCoordinateZ Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -15.0
Real Upper Limit: 15.0


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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