Command 353: Acquires the setting values of load inertia and eccentricity
Acquires the load inertia and the eccentricity.
Command Syntax
No parameter
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 |
Description
Acquires the current load inertia and the eccentricity.
The values will be returned 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 |
| 0161H | 0161H 0000H 1400H 0001H D4C1H |