Command 200: Sets the speed, depart speed, and approach speed settings
Sets Arm speed for CP motion.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | speed High-order word | Specifies the value which increased the speed (integer, unit: mm/sec) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | speed Low-order word | Specifies the value which increased the speed (integer, unit: mm/sec) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | departSpeed High-order word | Specifies the value indicating the depart speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | departSpeed Low-order word | Specifies the value indicating the depart speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 5 | 15 | approachSpeed High-order word | Specifies the value indicating the approach speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 6 | 15 | approachSpeed Low-order word | Specifies the value indicating the approach speed for Jump3 (Unit: mm/sec) × 1000 and converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Sets Arm speed for CP motion.
Example
When setting speed as 100.001, depart speed as 50.002, and approach speed as 60.003.
| Command | Response |
| 00C8H 0001H 86A1H 0000H C352H 0000H EA63H | 00C8H 0000H 0000H |