Command 804: Acquires the allowable motion area pulse setting value by specifying the lower limit pulse
Acquires the lower 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 |
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 |
Description
Acquires the current lower limit pulse of the permissible motion range of the specified joint.
The pulse value is 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 |
| 0324H 0001H | 0324H 0001H FFFFH E890H |