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

Access: Read/Write

Category: Motion

Applies to: All Commander Controllers

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

DEC, HSPD, JKA, JKD, LSPD, PS, SCV, SSPDM

Commander Manual

2.1.4 Motion Profile 

B.1 Acceleration/Deceleration Range 

B.2 Acceleration/Deceleration Range – Positional Move