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SensorData Message

  • Protocol Version: 3.0
  • Release Date: January 20, 2017

Summary

SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.

Message Types

SENSOR

Data Type Description
LARRAY uint8 Length of array (0-255)
STATUS uint8 Sensor status (Reserved)
UNIT uint64 See 64-bit UNIT field.
DATA float64[LARRAY] value array for sensor 0

GET_SENSOR

Data Type Description 
          |               |

STT_SENSOR

Data Type Description 
          |               |

or

Data Type Description
STATUS uint8 0: Success; 1: Error

STP_SENSOR

Data Type Description 
          |               |

RTS_SENSOR

Data Type Description
STATUS uint8 0: Success; 1: Error

Implementations

Contributors

  • Junichi Tokuda
  • Yuichiro Hayashi

Examples

Sending 3-axis troque

A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:

Data Type Contents
LARRAY uint8 3
STATUS uint8 0
UNIT uint64 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
DATA float64[3] {0.0, 0.0, 0.0}

Sending 3-axis force, troque and acceleration

By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.