AXY:MC-Basic:group.ACCELERATION

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

<GROUP>.Acc

Syntax

<GROUP>.Acceleration = <expression >

?<GROUP>.Acceleration

Availability

All versions

Type

Double

Range

Greater than 0

Units

User group acceleration units, as given by <GROUP>.ACCELERATIONFACTOR

Default

500

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 group must be attached to that task (using the ATTACH command).

Examples

Group1.acceleration = 1e10

Move G2 (100, 200) acc = 2e10

See Also

• ATTACH
• group.ACCELERATIONFACTOR
• group.ACCELERATIONMAX