Yaskawa MP900 Series Motion Programming Manual - Manual (Page 119)

3.2 Speed and Acceleration/Deceleration Commands
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3.2 Speed and Acceleration/Deceleration Commands
This section explains the instructions for setting the speeds and accelerations/decelerations for axis
move commands, and gives details of the programming methods.
3.2.1 ACCELERATION TIME CHANGE (ACC)
J Overview
This command changes the acceleration times of axes for which positioning commands (MOV,
MVT, EXM) are used.
J Description
The ACC command is designated as follows:
ACC [axis1] − [axis2] − ⋅⋅⋅;
Acceleration time
The ACC command changes the acceleration time of each axis. The acceleration time of an un-
specified axis is not changed. The acceleration time set by POSITIONING (MOV) command
is changed.
v
v
v
MAX
Before acceleration time change
t
After acceleration time change
t
v
MAX
Figure 3.14 ACCELERATION TIME CHANGE (ACC)
The acceleration time changed by ACC command execution remains in effect until it is reset by
the next ACC command.
The ACC command reference range is as follows:
1 to 32,767 [ms]
Note The setting unit is [ms] for MP900-series Machine Controllers. That for
MP2000-series Machine Controllers depends on the setting of OWxx03 bit 4
to bit 7 (Acceleration/Deceleration Unit Selection).
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