Command 750: Set the allowable motion area by specifying the lower and upper limit positions
Specifies the motion range area upper limit and lower limit positions.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | coordinateSelection | Specifies the coordinate. 0 = X 1 = Y 2 = Z |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | lowerLimit High-order word | Specifies the lower limit coordinate where the Manipulator may travel as the actual value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | lowerLimit Low-order word | Specifies the lower limit coordinate where the Manipulator may travel as the actual value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | upperLimit High-order word | Specifies the upper limit coordinate where the Manipulator may travel as the actual value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 5 | 15 | upperLimit Low-order word | Specifies the upper limit coordinate where the Manipulator may travel as the actual value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax Refer to the following.
Description
Sets the motion range area by specifying the lower limit position and the upper limit position for the selected coordinate.
The setting will be effective after issuing the command for all coordinates, in order of X, Y, and Z.
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.
Example
When setting with the following coordinates.
| X axis | Y axis | Z axis | |
| Lower limit position | 10.000 | 20.000 | 30.000 |
| Upper limit position | 200.000 | 100.000 | 100.000 |
| Command | Response |
02EEH 0000H 0000H 000AH 0001H 871BH 02EEH 0001H 0000H 0014H 0003H 0DBBH 02EEH 0002H 0000H 001EH 0004H 945BH | 02EEH 0000H 0000H 02EEH 0000H 0000H 02EEH 0000H 0000H |