0x480C - ReportForceTorque
Description
This message is used to report the measured force/torque for one or more sensing devices.
Structure
ReportForceTorqueReportForceTorqueList
ReportForceTorqueList
Type: List
| Element Type | Count Type | Min Count | Max Count |
|---|---|---|---|
| ReportForceTorqueRec | uint16 | 0 | 65535 |
ReportForceTorqueRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | PresenceVector | uint8 | |||
| 2 | SensorID | uint16 | one | false | The ID of the sensor. A value of zero (0) is not allowed |
| 3 | CoordinateSystem | uint8 | one | false | |
| 4 | ForceX | uint16 | newton | true | Current force measured in the X-direction |
| 5 | ForceY | uint16 | newton | true | Current force measured in the Y-direction |
| 6 | ForceZ | uint16 | newton | true | Current force measured in the Z-direction |
| 7 | TorqueX | uint16 | newton meter | true | Current torque measured around the X-axis |
| 8 | TorqueY | uint16 | newton meter | true | Current torque measured around the Y-axis |
| 9 | TorqueZ | uint16 | newton meter | true | Current torque measured around the Z-axis |