Command 1: Registers acceleration and deceleration to the accel/decel table
Sets the acceleration and deceleration values in the acceleration/deceleration table for PTP motion.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | tableNumber | Specifies the registration position in the table using an integer from 0 to 15. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | accel | Specifies the ratio (%) to the maximum acceleration using an integer equals to or greater than 1. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | decel | Specifies the ratio (%) to the maximum deceleration using an integer equals to or greater than 1. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Sets PTP motion acceleration and deceleration in a specified table. The execution of this command does not affect actual settings. The settings are reflected when they are specified as options at execution of the target motion command.
This command is used in combination with the motion commands.
Example
Sets “100” for acceleration and “80” for deceleration to the table 5.
| Command | Response |
0001H 0005H 0064H 0050H 07D0H 0100H 0000H 0005H | 0000H 0000H 0000H *1 0000H 0000H 0000H *2 |
*1: Registeration to the table
*2: Specifies the table number and executes PTP motion