Command 800: Sets the allowable motion area pulse value by specifying the upper and lower limit pulses
Defines the lower limit and the upper limit of the permissible working range for the specified joint in pulses.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | jointNumber | Specifies the joint number by an integer from 1 to 6. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | lowerLmit High-order side | Integer in complement form representing the lower limit pulse of the motion range for the specified joint. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | lowerLmit Low-order side | Integer in complement form representing the lower limit pulse of the motion range for the specified joint. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | upperLmit High-order side | Integer in complement form representing the upper limit pulse of the motion range for the specified joint. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 5 | 15 | upperLmit Low-order side | Integer in complement form representing the upper limit pulse of the motion range for the specified joint. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Defines the allowable motion range for the specified joint with upper and lower limits in encoder pulse counts.
The pulse value should be specified in 32-bit two’s complement.
Example
When setting – 6000 for the lower limit pulse of the Joint #1 and 7000 for the upper limit pulse.
| Command | Response |
| 0320H 0001H FFFFH E890H 0000H 1B58H | 0320H 0000H 0000H |