Command 111: Acquires the registered deceleration value from the accel / decel table
Acquires deceleration 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 | decel High-order word | Returns 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 | |
|---|---|---|---|
| Response 3 | 15 | decel Low-order word | Returns 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 |
Description
This command acquires registered values for Tool orientation change in CP motion from the specified position in the acceleration/deceleration table.
Deceleration 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 |
| 006FH 0001H | 006FH 0001H 0003H 0D40H |