Command 452: Sets the setting values of Joint #4, #5, and #6
Specifies the allowable positioning error for detecting completion of any given move for each joint separately.
Sets axis4 to axis6.
Command Syntax
*Axis 2 and 3 are not necessary for the 4-axis robots.
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | axis4 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | axis5 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | axis6 | 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 #4, #5, and #6 to specify the allowable positioning error for detecting completion of any given move.
For 4-axis manipulators, axis5 and axis6 are not necessary.
This command functions in combination with Cmmand 451.
To set parameters, execute Command 451 and 452, in that order. The settings will be effective after issuing Command 452.
If the last command is not Command 451, an error response will be returned.
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 |
| 01C4H 0190H 01F4H 0258H | 01C4H 0000H 0000H |