Command 351: Sets the load inertia
Sets the load inertia.
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 |
Response Syntax
Refer to the following.
Description
This command is used to set the load inertia when setting the load inertia and the eccentricity separately.
This command must be used in combination with Command 352.
To set the load inertia and the eccentricity, execute Command 351 and 352, in that order. The settings will be effective after issuing command No. 352.
If commands other than Command 352 are issued after this command, setting will be canceled.
Example
When setting 5.12 Kg2 for the load inertia and 120.001 mm for the eccentricity.
| Command | Response |
015FH 0000H 1400H 0160H 0001H D4C1H | 015FH 0000H 0000H 0160H 0000H 0000H |