Command 107: Acquires current acceleration value
Acquires current acceleration value for Tool orientation change in CP motion separately.
Command Syntax
No parameter
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | accel High-order word | Returns 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 | |
|---|---|---|---|
| Response 2 | 15 | accel Low-order word | Returns 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 |
Description
This command acquires the acceleration value when acquiring acceleration and deceleration for Tool orientation change in CP motion separately.
The value will be returned as fixed-point data which validates to three decimal places.
Example
When acceleration is set to “100.123” and deceleration is “200.000”.
| Command | Response |
| 006BH | 006BH 0001H 871BH |