Command 453: Acquires the setting values of all joints
Acquires setting values of the allowable positioning error for detecting completion of any given move for each joint.
Command Syntax
No parameter
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | axis1 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | axis2 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 3 | 15 | axis3 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 4 | 15 | axis4 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 5 | 15 | axis5 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 6 | 15 | axis6 | Integer ranging from (0-65535) which represents the allowable positioning error |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
* For 4-axis manipulators, Parameter 2 and 3 are not returned.
Description
This command acquires setting values of all axes for specifying the allowable positioning error for detecting completion collectively.
However, values for axis5 and axis6 are not returned if the manipulator is the 4-axis manipulator.
Example
6-axis manipulator
- Axis #1: 100
- Axis #2: 200
- Axis #3: 300
- Axis #4: 400
- Axis #5: 500
- Axis #6: 600
| Command | Response |
| 01C5H | 01C5H 0064H 00C8H 012CH 0190H 01F4H 0258H |