Command 153: Acquires the setting value from the speed table
Acquires speed values from 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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | tableNumber | Returns the specified table number in an integer. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | speed | Returns the percentage (%) of the maximum speed indicated by an integer from 1 to 100. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 3 | 15 | departSpeed | Returns the departing motion speed in gate-motion PTP motion by an integer from 1 to 100. (Unit: %) |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 4 | 15 | approachSpeed | Returns the approaching motion speed in gate-motion PTP motion by an integer from 1 to 100. (Unit: %) |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
Acquires speed values from the speed table for PTP motion.
If the specified table number is out of range or not registered, 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 |
| 0099H 0001H | 0099H 0001H 0064H 0050H 0032H |