Command 301: Sets the parameter for offsetting the speed and accel/decel in PTP motion without an arm length specified
These commands are used to set the parameters for offsetting the speed and accel/decel in PTP motion.
Sets the Hand weight.
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 |
Response Syntax
Refer to the following.
Description
Sets only the hand weight of the parameter setting for speed and accel/decel offset in PTP motion.
Example
When setting 5.12Kg for the hand weight.
| Command | Response |
| 012DH 0000H 1400H | 012DH 0000H 0000H |