0x0601 - SetJointEffort
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.
Structure
SetJointEffortJointEffortList
JointEffortList
Type: List
| Element Type | Count Type | Min Count | Max Count |
|---|---|---|---|
| JointEffortRec | uint8 | 0 | 255 |
JointEffortRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | JointEffort | uint16 | one | false | Percent of maximum effort for this joint. Each joint must have a corresponding entry in the list. |