File: abb_rapid_msgs/LoadData.msg
Raw Message Definition
#-------------------------------------------------------------------------------
# Description:
# The purpose of this message definition, is to represent the
# RAPID data type "loaddata" (load data).
#
# Note:
# Please see the "Technical reference manual - RAPID Instructions,
# Functions and Data types" for more details.
#-------------------------------------------------------------------------------
#-------------------------------------------------------------------------------
# Message fields
#-------------------------------------------------------------------------------
# The mass (weight) of the load in kg.
float32 mass
# The center of gravity of the payload, expressed in mm,
# in the tool coordinate system if the robot is holding the tool.
#
# If a stationary tool is used then the center of gravity for the payload
# held by the gripper is expressed in the object frame of the work object
# coordinate system moved by the robot.
Pos cog
# The orientation of the axes of moment.
#
# These are the principal axes of the payload
# moment of inertia with origin in cog.
#
# If the robot is holding the tool, the axes of moment
# are expressed in the tool coordinate system.
Orient aom
# The moment of inertia of the load around the x-, y- and z-axis,
# expressed in kgm^2.
float32 ix
float32 iy
float32 iz
Compact Message Definition