Command 104: Registers acceleration value to the accel/decel table
Sets the acceleration for Tool orientation change in CP motion to 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 |
| 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 |
Response Syntax
Refer to the following.
Description
This command registers acceleration to the acceleration/deceleration table when registering acceleration and deceleration separately. This command does not function by itself. This command functions in combination with command No.105. To set acceleration, execute the commands No. 104 and No.105, in that order. Registration will be completed by executing the command No.105.
If commands other than No.105 are issued after this command, setting will be canceled.
Example
When registering “100.123” for acceleration and “200.000” for deceleration in the table 1.
| Command | Response |
0068H 0001H 0001H 871BH 0069H 0001H 0003H 0D40H | 0068H 0000H 0000H 0069H 0000H 0000H |