Command 201: Sets the setting values of speed and depart
speed to the Controller Sets Arm speeds for CP motion separately.
Sets speed and depart speed setting values.
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 |
Response Syntax
Refer to the following.
Description
This command sets speed and depart speed when setting arm speeds for CP motion separately.
This command functions in combination with Command 202.
To set setting values, execute the Command 201 and 202, in that order. The settings will be effective after issuing Command 202.
If commands other than Command 202 are issued after this command, setting will be canceled.
The rest is same as the Command 200.
Example
When setting speed as 100.001, depart speed as 50.002, and approach speed as 60.003.
| Command | Response |
00C9H 0001H 86A1H 0000H C352H 00CAH 0000H EA63H | 00C9H 0000H 0000H 00CAH 0000H 0000H |