Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 118)

8.1 Axis Setting Commands
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Command Reference
8.1.3 Acceleration Time Change (ACC)
(1) Overview
The Acceleration Time Change command (ACC) changes the acceleration time or acceleration rate of the axis
for which one of the following axis move commands is executed.
• Positioning (MOV)
• Set Time Positioning (MVT)
• External Positioning (EXM)
The acceleration time for up to 16 axes can be changed at once. The acceleration time of any axis unspecified in
the command block is not changed.
The acceleration time changed by the ACC command remains until it is reset by the next ACC command.
Fig. 8.5 Acceleration Time Change (ACC)
• The Acceleration Time Change command (ACC) changes the acceleration time for positioning related commands
MOV, EXM, and MVT. Use an IAC command to set the acceleration time for interpolation related commands, MVS,
MCW, MCC, and SKP.
• All motion modules, except the PO-01 module, support ACC, DCC, and SCC commands.
Use of these commands with the PO-01 module requires the following combination of MP2000-series Machine Con-
troller and PO-01 module versions.
Motion Programs Sequence Programs
Applicable Not applicable
MP2000 Series Version Number PO-01 Module Version Number
Ver.2.46 or later Ver.1.06 or later
Speed (V)
Time (t)
Before acceleration time change
Speed (V)
Time (t)
After acceleration time change
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