Command 803: Acquires the allowable motion area pulse setting value by specifying the lower and upper limit pulses
Acquires 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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | jointNumber | Specifies the joint number by an integer from 1 to 6. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 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 |
Description
Acquires the current lower and upper limit pulses of the permissible motion range of the specified joint.
The pulse values are returned in 32-bit two’s complement format.
Example
When setting – 6000 for the lower limit pulse of the Joint #1 and 7000 for the upper limit pulse.
| Command | Response |
| 0323H 0001H | 0323H 000１H FFFFH E890H 0000H 1B58H |