Command 2151: Acquires the distance between 2 manipulator coordinates
Acquires the distance between two manipulator coordinates.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | P1 | Specify one of two point numbers to acquire the distance. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | P2 | Specify one of two point numbers to acquire the distance. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | position High-order word | Returns the acquired distance (mm/ real number) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | position Low-order word | Returns the acquired distance (mm/ real number) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
Returns the distance between two manipulator coordinates. (Unit: mm)
Example
When acquiring the distance between P1 and P2.
The distance is 100.002 mm.
| Command | Response |
| 0867H 0001H 0002H | 0867H 0001H 86A2H |