Command 207: Acquires the setting values of current speed and depart speed
Acquires Arm speed settings for CP motion separately.
Acquires speed setting value and depart speed value.
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 |
Description
This command acquires speed and depart speed when acquiring arm speeds for CP motion separately.
Example
When setting speed as 100.001, depart speed as 50.002, and approach speed as 60.003.
| Command | Response |
| 00CFH | 00CFH 0001H 86A1H 0000H C352H |