Difference between revisions of "AXY:MC-Basic:axis.ACCELERATION"
m (Miborich moved page Axystems:MC-Basic:axis.ACCELERATION to MC-Basic:axis.ACCELERATION: Global renaming of Axystems: namespace into (Main):) |
|||
| Line 44: | Line 44: | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:axis.ACCELERATIONFACTOR|axis.ACCELERATIONFACTOR]] |
* [[Axystems:MC-Basic:axis.ACCELERATIONMAX|axis.ACCELERATIONMAX]] | * [[Axystems:MC-Basic:axis.ACCELERATIONMAX|axis.ACCELERATIONMAX]] | ||
}} | }} | ||
Revision as of 08:43, 22 May 2014
This property sets the acceleration rate of the motion profile. When executing a motion command, acceleration should be less than or equal to ACCELERATIONMAX. If it is greater, the motion is executed using the ACCELERATIONMAX value.
This property can be used inside a motion command to override the permanent value.
Short form
<axis>.Acc
Syntax
<axis>.Acceleration = <expression>
?<axis>.Acceleration
Availability
All versions
Type
Double
Range
Greater than 0
Units
User axis acceleration units, as given by <axis>.ACCELERATIONFACTOR.
Default
1000
Scope
Configuration, Task or Terminal
Limitations
The ratio between jerk and acceleration is limited by the following relation:
Jerk/Acc < 0.9 × π/5T
where T is the sample time in seconds.
For a cycle time of 2 ms, this value is 282.74. Use SMOOTHFACTOR to have JERK calculated automatically. To set the value within a task, the axis must be attached to that task (using the ATTACH command).
Examples
Xaxis.acceleration = 1e10
Move Xaxis 100 acc = 2e10