Table A-2: "Set Wrench Effort" data fields (from JAUS: Reference Architecture
 Specification, pg. 80)
 Field # Name Type Units Interpre


1 Presence Vector


 2 Propulsive Linear
 Effort X
 3 Propulsive Linear
 Effort Y
 Propulsive Linear
 Effort Z
 5 Propulsive Rotational
 Effort X
 6 Propulsive Rotational
 Effort Y
 7 Propulsive Rotational
 Effort Z
 Resistive Linear
 Effort X
 Resistive Linear
 Effort Y
 Resistive Linear
 Effort Z
 Resistive Rotational
 Effort X
 Resistive Rotational
12
 Effort Y
 Resistive Rotational
13fort
 Effort Z


Unsigned Short








Short Integer














Byte


N/A








Percent














Percent


See mapping
 table that
 follows.


Scaled Integer
 Lower Limit
 =-100
 Upper Limit
 = 100










Scaled Integer
 Lower Limit
 =0
 Upper Limit
 = 100


Vector to Data Field Mapping for Above Command
 15 14 13 12 11 10 9
 R R R R 13 12 11
 7 6 5 4 3 2 1
 9 8 7 6 5 4 3
 "R" indicates that the bit is reserved.


station


Vector Bit
Data Field
Vector Bit
Data Field


0
2