Command 105: Registers deceleration value to the accel/decel table
Sets deceleration for Tool orientation change in CP motion in 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 | 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 3 | 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
This command registers deceleration to the acceleration/deceleration table when registering acceleration and deceleration separately. This command is used in combination with Command 104.
To set acceleration and deceleration, execute Commands 104 and 105, in that order. Registration will be completed by executing Command 105.
If the previous command is not Command 104, an error response will be returned.
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 |