0x0607 - SetJointMotionProfile

Description

This message sets maximum speeds, acceleration, and deceleration rates for each joint of the manipulator. The message must contain a profile for each joint in the manipulator.

Structure

SetJointMotionProfile
 JointMotionProfileList
   JointType
     RevoluteJointMotionProfileRec
     PrismaticJointMotionProfileRec

JointMotionProfileList

Type: List

Element Type	Count Type	Min Count	Max Count
JointType	uint8	0	255

JointType

Type: Variant

Index	Type
0	RevoluteJointMotionProfileRec
1	PrismaticJointMotionProfileRec

RevoluteJointMotionProfileRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	JointMaxSpeed	uint32	radian per second	false
2	JointMaxAccelerationRate	uint32	radian per second squared	false
3	JointMaxDecelerationRate	uint32	radian per second squared	false

PrismaticJointMotionProfileRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	JointMaxSpeed	uint32	meter per second	false
2	JointMaxAccelerationRate	uint32	meter per second squared	false
3	JointMaxDecelerationRate	uint32	meter per second squared	false