Command 352: Sets the eccentricity

Sets the eccentricity.

Command Syntax

	bit	Name	Description
Parameter 1	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 2	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.

Response Codes

Description

This command is used to set the eccentricity 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 the last command is not the command No. 351, an error response will be returned.

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