Command 206: Acquires current speed, depart speed, and approach speed
Acquires Arm speed settings for CP motion.
Command Syntax
No parameter
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | speed High-order word | Returns 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 | |
|---|---|---|---|
| Response 2 | 15 | speed Low-order word | Returns 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 | |
|---|---|---|---|
| Response 3 | 15 | departSpeed High-order word | Returns 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 | |
|---|---|---|---|
| Response 4 | 15 | departSpeed Low-order word | Returns 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 | |
|---|---|---|---|
| Response 5 | 15 | approachSpeed High-order word | Returns 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 | |
|---|---|---|---|
| Response 6 | 15 | approachSpeed Low-order word | Returns 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 |
Description
Acquires current Arm speed settings for CP motion.
Example
When setting speed as 100.001, depart speed as 50.002, and approach speed as 60.003.
| Command | Response |
| 00CEH | 00CEH 0001H 86A1H 0000H C352H 0000H EA63H |