Command 102: Sets the deceleration value of the acceleration and deceleration

Sets deceleration for Tool orientation in CP motion separately.

Command Syntax

	bit	Name	Description
Parameter 1	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 2	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.

Response Codes

Description

This command sets the deceleration value when setting acceleration and deceleration separately. This command is used in combination with Command 101.

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 the previous command is not Command 101, an error response will be returned.

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