Ac (acceleration), Motion – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
AC (Acceleration)
[Motion]
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate for independent moves, such as
,
moves. The parameters input will be rounded
down to the nearest factor of 1024. The units of the parameters are counts per second squared. The
acceleration rate may be changed during motion. The
command is used to specify the
deceleration rate.
ARGUMENTS: AC x, y, z, w or ACX=x or AC a, b, c, d where
x, y z, w, or a, b, c, d are unsigned integers
USAGE:
OPERAND USAGE:
_ACn contains the value of acceleration in counts/
sec
2
where n is an axis letter.
RELATED COMMANDS:
IT (Independent Time Constant)
EXAMPLES:
HINTS: Specify realistic acceleration rates based on your physical system such as motor torque rating, loads, and amplifier
current rating. Specifying an excessive acceleration will cause large following error during acceleration and the
motor will not follow the commanded profile. The acceleration feedforward command FA will help minimize error
during acceleration.
While Moving
Yes
Minimum Value
1024
In a Program
Yes
Maximum Value
67107840
Command Line
Yes
Default Value
256000
Can be Interrogated
Yes
Default Format
8.0
Used as an Operand
Yes
Virtual Axis
Yes
AC 150000
Set acceleration to 150000 counts/sec
2
MG_ACX
Request the current acceleration setting
0149504
Returned Acceleration (resolution, 1024)
V=_ACX
Assigns the current acceleration setting to the
variable V