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: 0.0 to 4000000.000 rps/s 0.0 to 240000008.192 rpm/s 0.0 to 60001.016 deg/s² 0.0 to 20000000.000 (Custom Units)/s² 0.0 to 25132740.608 rad/s² Linear: 0.0 to 17179869184000000.000 counts/s² 0.0MOTOR.PITCH to 4000000.000MOTOR.PITCH mm/s² 0.0MOTOR.PITCH to 3999999983.616MOTOR.PITCHµm/s² 0.0 to 20000000.000 (Custom Units)/s² Drive limit is used if the minimum is set to 0. The range and default values of (Custom Units)/s² units depend on the values of PIN and POUT. The range and default values listed in this table are derived from the default values of PIN and POUT.
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 166.714MOTOR.PITCHMOTOR.PITCH mm/s² 166,714.191MOTOR.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	2263	8 Octets	No

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