Command 110: Acquires the registered acceleration value from the accel/decel table
Acquires acceleration for Tool orientation change in CP motion from 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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | tableNumber | Returns the specified table number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 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 3 | 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 registered values for Tool orientation change in CP motion from the specified position in the acceleration/deceleration table.
Acceleration value can be acquired by using this command.
If the specified table number is out of range or not registered, an error response will be returned.
The value will be specified as fixed-point data which validates to three decimal places.
Example
When registering “100.123” for acceleration and “200.000” for deceleration in the table 1.
| Command | Response |
| 006EH 0001H | 006EH 0001H 0001H 871BH |