Rockwell Automation 1771-QB Linear Pos. - Manual (Page 103)

Formatting Module Data (WRITES)
Chapter 7
7Ć24
Global Acceleration/Deceleration (words 24, 25 and 53, 54)
This parameter specifies the acceleration and deceleration rate the module uses
for all jogs and for those setpoint and motion segment moves that do not use
local acceleration and deceleration rates. The deceleration value is also used for
executing slide stops during manual mode.
Figure 7.32
Global Acceleration/Deceleration Words
50076
Global acceleration rate,
BCD 999.9 ips/s or 9999 mmps/s max
Binary 3276.7 ips/s or 32767 mmps/s max
Global deceleration rate,
BCD 999.9 ips/s or 9999 mmps/s max
Binary 3276.7 ips/s or 32767 mmps/s max
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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Velocity Smoothing (Jerk) Constant (words 26 and 55)
The velocity smoothing constant (also known as the jerk constant) specifies the
maximum rate that the acceleration or deceleration can change. When the
module commands a move, the acceleration and deceleration increases or
decreases at the rate specified by this constant.
Figure 7.33
Velocity Smoothing (Jerk) Constant Word
50075
Velocity smoothing constant,
BCD 99.99 (ips/s)/ms or 999.9 (mmps/s)/ms max
Binary 327.67 (ips/s)/ms or 3276.7 (mmps/s)/ms max
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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