Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 308)

Acc/Dec Parameters
Chapter 10
10-12
Range
0.00000 to 20,000.00000 mm/sec/sec
or
0.00000 to 787.4015 inch/sec/sec
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.
This is a simplified procedure for determining the Acc Ramp value in
cases where it is critical to axis performance:
Figure 10.6
Matching S--Curve Acc Ramp to the Natural Response of the Axis
Time (seconds)
Feedrate
Rapid
Natural response
curve of axis
S--Curve Acc Ramp