Yaskawa LEGEND-MC - Manual (Page 65)

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LEGEND-MC User’s Manual
AC (Acceleration)
[Motion]
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate for independent moves, such as PR, PA
and JG 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 DC
command is used to specify the deceleration rate.
ARGUMENTS: AC x, y, z, w or ACX=x or AC a,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_ACn contains the value of acceleration in counts/ sec
2
where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
NOTES: 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 accelera-
tion.
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 Distributed Control Specific Axis
"DC" Specifies deceleration rate.
"FA" Feedforward Acceleration.
"IT" Smoothing constant - S-curve
AC 150000 Set acceleration to 150000 counts/sec 2
AC ? Request the current acceleration setting
0149504 Returned Acceleration (resolution, 1024)
V=_ACX Assigns the current acceleration setting to the
variable V