Command 753: Acquires the setting value of the allowable motion area by specifying the lower and upper limit positions
Acquires 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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | coordinateSelection | Returns the specified coordinate. 0 = X 1 = Y 2 = Z |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | lowerLimit High-order word | Returns 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 | |
|---|---|---|---|
| Response 3 | 15 | lowerLimit Low-order word | Returns 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 | |
|---|---|---|---|
| Response 4 | 15 | upperLimit High-order word | Returns 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 | |
|---|---|---|---|
| Response 5 | 15 | upperLimit Low-order word | Returns 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 |
Description
Acquires the motion range area by returning the upper limit position and lower limit position for the selected coordinate.
The values will be returned as fixed-point data which validates to three decimal places.
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 |
02F1H 0000H 02F1H 0001H 02F1H 0002H | 02F1H 0000H 0000H 000AH 0001H 871BH 02F1H 0001H 0000H 0014H 0003H 0DBBH 02F1H 0002H 0000H 001EH 0004H 945BH |