Command 203: Registers to the speed table
Registers speeds for CP motion to the Arm speed 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 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 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 3 | 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 4 | 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 5 | 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 6 | 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 7 | 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
Registers speed, depart speed, and approach speed to the specified table.
The issue of this command does not affect actual settings. The settings will be reflected when they are specified as options at execution of the target motion command.
This command is used in combination with the motion commands.
Example
When registering speed as “100.001”, depart speed as “50.002”, and approach speed as “60.003” to the table 1.
| Command | Response |
| 00CBH 0001H 0001H 86A1H 0000H C352H 0000H EA63H | 00CBH 0000H 0000H |