Command 253: Acquires the setting value from the speed table
These commands are used to set the parameters for offsetting the speed and accel/decel in PTP motion.
Sets the hand weight and the arm length.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | handWeight High-order word | Specifies the Hand weight to be added to the Arm as the value × 1000 and convering it to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | handWeight Low-order word | Specifies the Hand weight to be added to the Arm as the value × 1000 and convering it to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | armLength High-order word | Specifies the length from the rotational center of Arm #2 to the center of the gravity of Arm #3 (Unit: mm) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | armLength Low-order word | Specifies the length from the rotational center of Arm #2 to the center of the gravity of Arm #3 (Unit: mm) as the value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Sets the parameter setting for speed and accel/decel offset in PTP motion by specifying the hand weight and the arm length.
Example
When setting 5.12 Kg for the hand weight, and 120.001 for the arm length.
| Command | Response |
| 012CH 0000H 1400H 0001H D4C1H | 012CH 0000H 0000H |