Difference between revisions of "AXY:MC-Basic:group.ACCELERATION"
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* [[MC-Basic:ATTACH|ATTACH]] | * [[MC-Basic:ATTACH|ATTACH]] | ||
* [[MC-Basic:group.ACCELERATIONFACTOR|group.ACCELERATIONFACTOR]] | * [[MC-Basic:group.ACCELERATIONFACTOR|group.ACCELERATIONFACTOR]] | ||
| − | * [[ | + | * [[MC-Basic:group.ACCELERATIONMAX|group.ACCELERATIONMAX]] |
}} | }} | ||
Revision as of 08:50, 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
<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