Gets/sets the acceleration [value] for [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]

[axis] is set to X, Y, Z, U, or not specified to affect all axis  

Write

ACC[axis]=[value]

[axis] is set to X, Y, Z, U, or not specified to affect all axis

[value] acceleration time is set to X, Y, Z, U, or not specified to affect all axis

Reply

Command is accepted and executed

Read 

ACC 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

Motion Profile 

B.1 Acceleration/Deceleration Range 

B.2 Acceleration/Deceleration Range – Positional Move