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PROFILE CONTROL COMMANDS
5. COMMAND STRUCTURE
5.8.2. ACCELERATION COMMANDS
Along with velocity limits, acceleration limits are also critical to most systems.
The following commands allow customization of these parameters.
AC
ACCELERATION
The AC command sets the acceleration/deceleration register to the operand which
follows the command. The parameter must be greater than zero (zero is not valid)
and less than 8,000,000, where 2,000,000 is the factory default, and the unit is in
steps per second per second. All the following move commands for the axis being
programmed will accelerate and decelerate at this rate until another AC command
is entered. See the AP Command on page 5-10 to preserve the AC settings as the
power-up/reset values.
RANGE: 1 <= AC <= 8000000
Example:
In the single axis mode, set the Y axis acceleration to 200,000
counts per second per second.
Enter:
AY AC200000;
Example:
In the AA mode, set the acceleration of the X axis to 200,000 and
the Z axis to 50,000 and leave the other axes with their previous
values.
Enter:
AA AC200000,,50000;
QUEUE REQUIREMENTS
MODE
Min
Max
AX – AT
6*
30*
AA-AM
6*
30*
AA/CD
Not Valid
FORMAT
AC#;
AC#,#,#,#;
* AX-AT/AA - AM
- PN0 & PR0 ramp selections add 2
- All other PN & PR ramp selections add 9
- CN & SC ramp selections add 9
- SR (Custom) ramp selections add (number of steps in ramp - 1)
Related commands: ?AC, RC, DC, VL, VB
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PCIx User’s Manual