Command 650: Set the approach check plane

Defines an approach check plane.

Command Syntax

	bit	Name	Description
Parameter 1	15	PlaneNum	Specifies the approach check plane number. Approach check plane can be defined by an integer from 1 to 15. Up to 15 approach check planes can be defined.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 2	15	Coordinate selection	Specifies the coordinate. 0 = X 1 = Y 2 = Z 3 = U 4 = V 5 = W
	14
	｜
	1
	0

	bit	Name	Description
Parameter 3	15	pCoordinateData High-order word	Specifies the coordinate system of the approach check plane directory by a point data. Specifies the coordinate (real number) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 4	15	pCoordinateData Low-order word	Specifies the coordinate system of the approach check plane directory by a point data. Specifies the coordinate (real number) as the value × 1000 converted to a 32-bit integer. Low-order side 16 bit.
	14
	｜
	1
	0

Response Syntax

Refer to the following.

Response Codes

Description

Sets the approach check plane for the specified plane number for each coordinate.

Setting will be completed by issuing the command to all coordinates, in order of X, Y, Z, U, V, and W.

If the order of coordinates is not proper or another command is executed during the execution of this command, values received at that point will be canceled and an error response will be returned.

• 4-axis manipulator: set the coordinates X, Y, Z, and U.
• 6-axis manipulator: set the coordinates X, Y, Z, U, V, and W.

Example

6-axis manipulator: when setting the following to PlaneNum 1

X	100.123
Y	200.123
Z	300.123
U	400.123
V	500.123
W	600.123

Command	Response
028AH 0001H 0000H 0001H 871BH 028AH 0001H 0001H 0003H 0DBBH 028AH 0001H 0002H 0004H 945BH 028AH 0001H 0003H 0006H 1AFBH 028AH 0001H 0004H 0007H A19BH 028AH 0001H 0005H 0009H 283BH	028AH 0000H 0000H 028AH 0000H 0000H 028AH 0000H 0000H 028AH 0000H 0000H 028AH 0000H 0000H 028AH 0000H 0000H