Difference between revisions of "AXY:MC-Basic:axis.ACCELERATION"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
| − | '' | + | <''axis''>.Acc |
|SYNTAX= | |SYNTAX= | ||
| − | '' | + | <''axis''>.Acceleration = <''expression''><br> |
| − | ?'' | + | ?<''axis''>.Acceleration |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 22: | Line 22: | ||
|UNITS= | |UNITS= | ||
| − | User axis acceleration units, as given by '' | + | User axis acceleration units, as given by <''axis''>.ACCELERATIONFACTOR. |
|DEFAULT= | |DEFAULT= | ||
| Line 32: | Line 32: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
The ratio between jerk and acceleration is limited by the following relation:<br> | The ratio between jerk and acceleration is limited by the following relation:<br> | ||
| − | Jerk/Acc < 0.9 | + | Jerk/Acc < 0.9 × π/5T<br> |
where T is the sample time in seconds. | where T is the sample time in seconds. | ||
| − | For a cycle time of 2 | + | 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). |
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 13:58, 16 March 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