Difference between revisions of "MC-Basic:element.ACCELERATION"
(Added ASCALE.) |
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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. | + | This property sets the acceleration rate of the motion profile. When executing a motion command, ACCELERATION should be less than or equal to [[MC-Basic:element.ACCELERATIONMAX |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. |
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| + | Active only when VelocitySettings is set to 0. When VelocitySettings is set to 1, [[MC-Basic:element.ASCALE|ASCALE]] is used. | ||
|TYPE= | |TYPE= | ||
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* [[MC-Basic:axis.ACCELERATIONCOMMAND|axis.ACCELERATIONCOMMAND]] | * [[MC-Basic:axis.ACCELERATIONCOMMAND|axis.ACCELERATIONCOMMAND]] | ||
* [[MC-Basic:element.ACCELERATIONFEEDBACK|element.ACCELERATIONFEEDBACK]] | * [[MC-Basic:element.ACCELERATIONFEEDBACK|element.ACCELERATIONFEEDBACK]] | ||
| − | + | * [[MC-Basic:element.ASCALE|element.ASCALE]] | |
}} | }} | ||
Revision as of 09:20, 26 January 2024
| Language: | English • 中文（简体） |
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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