MC-Basic:element.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.

Active only when VelocitySettings is set to 0. When VelocitySettings is set to 1, ASCALE is used.

Short form

<element>.Acc

Syntax

<element>.Acceleration = <expression >

?<element>.Acceleration

Availability

All versions

Type

Double

Range

Greater than 0

Units

User element acceleration units, as given by <element>.ACCELERATIONFACTOR

Default

Group = 500
Axis = 1000

Scope

Configuration, Task or Terminal

Limitations

The ratio between jerk and acceleration is limited by the following relation:
       Jerk/Acc < 0.9 * p/5T

where T is the sample time in seconds. For a cycle time of 2 msec, this value is 282.74. Use SMOOTHFACTOR to have jerk calculated automatically.

To set the value within a task, the element must be attached to that task (using the ATTACH command).

Examples

Axis
A1.acceleration = 1e10
Move A1 100 acc = 2e10

Group G1.acceleration = 1e10

Move G1 (100, 200) acc = 2e10

See Also

• ATTACH
• element.ACCELERATIONFACTOR
• element.ACCELERATIONMAX
• axis.ACCELERATIONCOMMAND
• element.ACCELERATIONFEEDBACK
• element.ASCALE