Returns or sets the acceleration time in milliseconds. Acceleration time can be set as a global value, or set for each individual axis.


Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA, PMX-2ED-SA, PMX-2EX


ASCII/Standalone                ACC                global  acceleration setting

ACC[axis]           individual axis acceleration setting

Syntax:

Read:

ACC[axis]        

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value


Write:

ACC[axis]=[acc]                 

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value

[acc]      is the acceleration time in ms 


Reply: 

Command is accepted and executed

Read:         

Returns the ACC parameter entered (acceleration time in ms).


Write:           

OK


Command cannot be processed

       An error message is returned. See Error Codes

Example: 

Read:                ACCX                * Returns acceleration time set for the X axis in ms


Write:                ACC=300        * Sets acceleration time to 300 ms for all axes.


Notes:

  • If DEC is set to 0, then ACC setting is used for Acceleration and Deceleration time. 
  • Acceleration time should be no less then one half of deceleration time.
  • Acceleration is time entered in milliseconds. Acceleration rate in pps2 (pulses/second2) can be calculated with the following formula:

  • The minimum and maximum acceleration values depend on the high-speed and low-speed settings. Refer to Speed Settings for details.
  • Individual acceleration settings will take priority over the global acceleration settings.  The global acceleration setting will only be used when one of the following conditions is true:
    1. The corresponding individual acceleration setting is defined as zero 
    2. A coordinated motion is being performed


In the example below, the settings will set both the global speed settings and the individual speed setting for the X axis.


HSPD=10000

HSPDX=2000

LSPD=300

ACCX=500

ACC=300

DEC=300


Once a move command is issued in this example, the global speed settings for the low speed and deceleration, and the individual X-axis speed settings for the high speed and acceleration, will be used for motion.

See also:

Motion Settings

LSPD, HSPD, DEC, SCV, JKA, JKD 

Commander Manual

2.1.4 Motion Profile, B.1 Acceleration/Deceleration Range, B.2 Acceleration/Deceleration Range – Positional Move,