Command 350: Sets the load inertia and eccentricity
Sets the load inertia and eccentricity.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | loadInertia High-order word | Specifies the moment of inertia around the center of the end effector including the hand and the work piece (real number, Unit: kg·m2) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | loadInertia Low-order word | Specifies the moment of inertia around the center of the end effector including the hand and the work piece (real number, Unit: kg·m2) as the value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | eccentricity High-order word | Returns the distance from the center of the end effector to the gravity center of the hand and the work piece by specifying the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | eccentricity Low-order word | Returns the distance from the center of the end effector to the gravity center of the hand and the work piece by specifying the value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Setting value should be specified as fixed-point data which validates to three decimal places.
Example
When setting 5.12 Kg2 for the load inertia and 120.001 mm for the eccentricity.
| Command | Response |
| 015EH 0000H 1400H 0001H D4C1H | 015EH 0000H 0000H |