Command 61: Acquires the registered deceleration value from the accel/decel table
Reads the deceleration value for linear and CP motion from the acceleration/deceleration table separately.
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 | 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 3 | 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 value can be acquired 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 “100.123” is registered for acceleration and “200.000” is registered for deceleration in the table 15.
| Command | Response |
| 003CH 000FH | 003DH 000FH 0003H 0D40H |