Command 211: Acquires the approach speed from the speed table
Acquires registered values from the Arm speed table for CP motion separately.
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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | tableNumber | Returns the specified table number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 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 3 | 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 registered values from the specified position of the arm speed table for CP motion.
Registered approach speed can be acquired by using this command.
If the specified table number is out of range or not registered, an error response will be returned.
The value will be returned as fixed-point data which validates to three decimal places.
Example
When registering speed as “100.001”, depart speed as “50.002”, and approach speed as “60.003” to the table 1.
| Command | Response |
| 00D3H 0001H | 00D3H 00001H 0000H EA63H |