0x480B - ReportForceTorqueCapabilities

Description

This message is used to report the capabilities of one or more force/torque sensing devices.

Structure

ReportForceTorqueCapabilities
 ReportForceTorqueCapabilitiesList
   ReportForceTorqueCapabilitiesRec

Element Type	Count Type	Min Count	Max Count
ReportForceTorqueCapabilitiesRec	uint16	0	65535

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	SensorID	uint16	one	false	The ID of the sensor. A value of zero (0) means all sensors
3	SensorName			false
4	CoordinateTransformSupported	uint8	one	true	True or false depending on if the service supports transforming data into the vehicle coordinate system.
5	MinForceX	uint16	newton	true	Most negative force measurable in the X-direction.
6	MaxForceX	uint16	newton	true	Most positive force measurable in the X-direction.
7	MinForceY	uint16	newton	true	Most negative force measurable in the Y-direction.
8	MaxForceY	uint16	newton	true	Most positive force measurable in the Y-direction.
9	MinForceZ	uint16	newton	true	Most negative force measurable in the Z-direction.
10	MaxForceZ	uint16	newton	true	Most positive force measurable in the Z-direction.
11	MinTorqueX	uint16	newton meter	true	Most negative torque measurable around the X-axis.
12	MaxTorqueX	uint16	newton meter	true	Most positive torque measurable around the X-axis.
13	MinTorqueY	uint16	newton meter	true	Most negative torque measurable around the Y-axis.
14	MaxTorqueY	uint16	newton meter	true	Most positive torque measurable around the Y-axis.
15	MinTorqueZ	uint16	newton meter	true	Most negative torque measurable around the Z-axis.
16	MaxTorqueZ	uint16	newton meter	true	Most positive torque measurable around the Z-axis.