Delta RMC101 User Manual
Page 755
Appendix B: Command Field Reference
B-7
Range: 0 to 65535
This parameter defines the acceleration ramp rate used by the axis for a move. It has four
meanings depending on the Acceleration and Deceleration Mode bits in the Mode word.
In Mode 0, this parameter is interpreted as an acceleration rate and is expressed in Position
Units/sec/sec. If Scale is set so one Position Unit equals 0.001", then a value of 200 would
represent an acceleration rate of 0.200 inches/sec/sec. In Mode 0, the relationship between the
ramp distance, Acceleration and Speed is:
Ramp
Distance
=
Speed x
Speed
Acceleration
x 2
Acceleration
=
Speed x
Speed
Ramp
Distance
x 2
In Mode 1, this field is an acceleration rate and is expressed in 1000 position units/sec/sec. If the
Scale is set so one position unit equal 0.001”, then a value of 200 would represent an
acceleration rate of 200 inches/second/second. In Mode 1, the relationship between the ramp
distance, acceleration and speed is:
Ramp
Distance
=
Speed x
Speed
Acceleration
x 2000
Acceleration
=
Speed x
Speed
Ramp
Distance
x 2000
In Mode 2, this parameter defines the distance (in position units) it will take to ramp to the
specified Speed.