Command 100: Sets the acceleration and deceleration
Sets acceleration and deceleration setting for Tool orientation change in CP motion.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | accel High-order word | Specifies the acceleration value which is the actual acceleration (Unit: deg/sec2) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | accel Low-order word | Specifies the acceleration value which is the actual acceleration (Unit: deg/sec2) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | decel High-order word | Specifies the deceleration value which is the actual deceleration (Unit: deg/sec2) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | decel Low-order word | Specifies the deceleration value which is the actual deceleration (Unit: deg/sec2) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Sets acceleration and deceleration for Tool orientation change in CP motion.
Values should be specified as fixed-point data which validates to three decimal places.
Example
When acceleration is set to “100.123” and deceleration is “200.000”.
| Command | Response |
| 0064H 0001H 871BH 0003H 0D40H | 0064H 0000H 0000H |