Command 151: Registers to the speed table
Registers a speed value in the speed table for PTP motion.
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 | speed | Specifies the percentage (%) of the maximum speed indicated by an integer from 1 to 100. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | departSpeed | Specifies the departing motion speed in gate-motion PTP motion by an integer from 1 to 100. (Unit: %) |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | approachSpeed | Specifies the approaching motion speed in gate-motion PTP motion by an integer from 1 to 100. (Unit: %) |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Registers speed, depart speed, and approach speed for PTP motion to the specified table.
If the specified table number is out of range, an error response will be returned.
Example
When registering speed as “100”, depart speed as “80”, and approach speed as “50” to the table 1.
| Command | Response |
| 0097H 0001H 0064H 0050H 0032H | 0097H 0000H 0000H |