Command 204: Registers speed and depart speed to the speed table

Registers speeds for CP motion to the Arm speed table separately.

Registers speed setting value and depart speed value.

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

Response Syntax

Refer to the following.

Response Codes

Description

This command registers speed and depart speed to the speed table when registering arm speeds for CP motion separately.

This command functions in combination with Command 205.

To set speeds, execute Commands 204 and 205, in that order. Registration will be completed by executing Command 205.

If commands other than Command 205 are issued after this command, setting will be canceled.

Example

When registering speed as “100.001”, depart speed as “50.002”, and approach speed as “60.003” to the table 1.

Command	Response
00CCH 0001H 0001H 86A1H 0000H C352H 00CDH 0001H 0000H EA63H	00CCH 0000H 0000H 00CDH 0000H 0000H