Command 355: Acquires the setting value of the eccentricity
Acquires the eccentricity.
Command Syntax
No parameter
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 |
Description
This command is used to acquire the eccentricity when acquiring the current load inertia and the eccentricity separately.
The value 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 |
| 0163H | 0163H 0001H D4C1H |