Command 59: Acquires the registered values from the accel/decel table
Acquires current acceleration and deceleration settings for linear and CP motion separately.
Acquires both acceleration and deceleration.
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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | tableNumber | Returns the specified table number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | accel High-order word | Returns the acceleration value which ｈis the actual acceleration (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 3 | 15 | accel Low-order word | Returns the acceleration value which ｈis the actual acceleration (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 4 | 15 | decel High-order word | Returns the deceleration value which is the actuｈal deceleration (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 5 | 15 | decel Low-order word | Returns the deceleration value which is the actuｈal deceleration (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
Acquires acceleration and deceleration values from the acceleration/deceleration table for linear and CP motion.
Acceleration and deceleration can be acquired at one time by using this command.
If the specified table number is out of range or not registered, an error response will be returned.
The value will be returned as fixed-point data which validates to three decimal places.
Example
When registering “100.123” for acceleration and “200.000” for deceleration in the table 15.
| Command | Response |
| 003BH 000FH | 003BH 000FH 0001H 871BH 0003H 0D40H |