AXY:MC-Basic:axis.ACCELERATION

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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

See Also

• axis.ACCELERATIONFACTOR
• axis.ACCELERATIONMAX