Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 305)

Acc/Dec Parameters
Chapter 10
10-9
or
0.00000 to 20,000.00000 deg/sec/sec
Notes
This parameter must be set independently for each axis.
Important: If the Servo Position Loop Type parameter (chapter 7) is set
for “ZFE Closed Loop” and the Feed Forward Percentage is set relatively
high, then it is important that the axis acceleration and deceleration
ramping closely match the “natural response” of the axis.
Figure 10.4
Matching Linear Acc Ramp to the Natural Response of the Axis
Time (seconds)
Feedrate
Rapid
Linear Ramp
(slope of this line)
Natural response
curve of axis
Function
Use this parameter to select the deceleration rate for each axis during
Linear Acc/Dec Mode (G47). A 0.0 value in this parameter forces the
system to replace this value with the value set for Linear Acceleration
Ramp.
Important: If you attempt to run the axis with a high gain (refer to the
Initial Gain parameter in chapter 7), higher values are generally required
for this parameter to avoid getting the “EXCESS FOLLOWING ERROR”
message.
10.5
Linear Deceleration Ramp