Command 451: Sets the setting values of Joint #1, #2, and #3
Specifies the allowable positioning error for detecting completion of any given move for each joint separately.
Sets axis1 to axis3.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | axis1 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | axis2 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | axis3 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
This command specifies Axis #1, #2, and #3 to specify the allowable positioning error for detecting completion of any given move.
This command functions in combination with Command 451.
To set parameters, execute Command 451 and 452, in that order. The settings will be effective after issuing Command 452.
If commands other than Command 452 are issued after this command, setting will be canceled.
The rest is same as Command 450.
Example
6-axis manipulator
- Axis #1: 100
- Axis #2: 200
- Axis #3: 300
- Axis #4: 400
- Axis #5: 500
- Axis #6: 600
| Command | Response |
| 01C3H 0064H 00C8H 012CH | 01C3H 0000H 0000H |