Command 103: Registers acceleration and deceleration to the accel/decel table

Sets the acceleration and deceleration settings for Tool orientation change in CP motion in the acceleration/deceleration table.

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

	bit	Name	Description
Parameter 2	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 3	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 4	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 5	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

Registers both acceleration and deceleration to the specified table.

The issue of this command does not affect actual settings. The settings will be reflected when they are specified as options at execution of the target motion command.

This command is used in combination with the motion commands.

Example

When registering “100.123” for acceleration and “200.000” for deceleration in the table 1.

Command	Response
0067H 0001H 0001H 871BH 0003H 0D40H	0067H 0000H 0000H

← Command 102: Sets the deceleration value of the acceleration and deceleration Command 104: Registers acceleration value to the accel/decel table →