MT.ACC

Description

MT.ACC specifies the motion task acceleration and is used by the MT.SET and MT.LOAD command. This parameter is a temporary value, since a motion task is only set after a MT.SET command. The motion task acceleration is further limited by the maximum allowed acceleration DRV.ACC

A value of 0 for MT.ACC should not be used when setting a motion task via MT.SET because this value causes a validity check of the MT.SET command to fail.

A value of 0 for MT.ACC after an MT.LOAD command displays an empty (not initialized) motion task.

General Information

Type

R/W Parameter

Units

Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR

Rotary: rps/s, rpm/s, deg/s², (Custom Units)/s², rad/s²

Linear: counts/s², mm/s², µm/s², (Custom Units)/s²

Range

Rotary:

0.002 to 833,333.333 rps/s

0.112 to 50,000,000.000 rpm/s

0.009 to 300,000,000.000 deg/s²

0.155 to 4,166,666.752 (Custom Units)/s²

0.012 to 5,235,987.968 rad/s²

Linear:

16,000.000 to 3,579,139,408,000.000 counts/s²

0.031*MOTOR.PITCH to 833,333.333*MOTOR.PITCH mm/s²

30.994*MOTOR.PITCH to 833,333,333.333*MOTOR.PITCHµm/s²

0.155 to 4,166,666.667 (Custom Units)/s²

Default Value

Rotary:

166.669 rps/s

10,000.000 rpm/s

60,000.000 deg/s²

833.333 (Custom Units)/s²

1,047.2 rad/s²

Linear:

715,840,000.000 counts/s²

166.714*MOTOR.PITCHMOTOR.PITCH mm/s²

166,714.191*MOTOR.PITCHMOTOR.PITCH µm/s²

833.571 (Custom Units)/s²

Data Type

Float

See Also

MT.NUM, MT.P, MT.V, MT.CNTL, MT.DEC, MT.TNUM, MT.MTNEXT, MT.TNEXT, MT.SET , MT.LOAD

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base No
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC No
AKD SynqNet No
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

6083h/0

 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2263 DWord No
Sercos® III 8 Octets
EtherNet/IP
Instance Data Size Data Type
264 8 Byte Acceleration
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

526

 Yes 64 bit No M_01-03-00-000

Related Topics

Motion Tasks