Command 101: Sets the acceleration value of the acceleration and deceleration

Sets acceleration for Tool orientation in CP motion separately.

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

Response Syntax

Refer to the following.

Response Codes

Description

This command sets the acceleration value when setting acceleration and deceleration separately. This command is used in combination with Command 102.

To set acceleration and deceleration, execute Commands 101 and 102, in that order. The actual values will be set when Command 102 is executed.

If commands other than Command 102 are issued after this command, setting will be canceled.

Example

When acceleration is set to “100.123” and deceleration is “200.000”.

Command	Response
0065H 0001H 871BH 0066H 0003H 0D40H	0065H 0000H 0000H 0066H 0000H 0000H