Command 751: Sets the lower limit position
Specifies the motion range area lower limit position.
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 |
Response Syntax
Refer to the following.
Description
Sets the motion range area by specifying the lower 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.
This command must be used in combination with Command 752.
The setting will be executed by specifying the lower limit position with Command 751, and then specifying the upper limit position with Command 752.
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 |
02EFH 0000H 0000H 000AH 02EFH 0001H 0000H 0014H 02EFH 0002H 0000H 001EH 02F0H 0000H 0001H 871BH 02F0H 0001H 0003H 0DBBH 02F0H 0002H 0004H 945BH | 02EFH 0000H 0000H 02EFH 0000H 0000H 02EFH 0000H 0000H 02F0H 0000H 0000H 02F0H 0000H 0000H 02F0H 0000H 0000H |