Command 802: Sets the upper limit pulse value
Defines the upper limit of the permissible working range of 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 | 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 3 | 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
This command specifies the lower limit pulse when setting the pulses separately.
This command functions in combination with Command 801.
To set pulses, execute Command 801 and Command 802, in that order. The settings will be effective after issuing Command 802.
If the last command is not the command No. 801, an error response will be returned.
Example
When setting – 6000 for the lower limit pulse of the Joint #1 and 7000 for the upper limit pulse.
| Command | Response |
0321H 0001H FFFFH E890H 0322H 0001H 0000H 1B58H | 0321H 0000H 0000H 0322H 0000H 0000H |