AXIS#.MT.ACC

Description

Specifies motion task acceleration; active in opmode 2 (position) only.

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

Examples

Code

Sets the acceleration of motion task 0 to 1000. The first parameter is the motion task number and the second is the acceleration rate.

-->AXIS1.MT.ACC 0 1000

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write Array
Units	Rotary: RPM/s, RPS/s, deg/s2, (custom units)/s2, rad/s2 See Acceleration Units for details.
Range	Depends on units. See Acceleration Units for details.
Default Value	10,000 RPM/s Depends on units. See Acceleration Units for details.
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Commands

EtherCAT CoE and CANopen
Command	Index	SubIndex	Data Type	Units	Float Scale	Access	PDO Mappable
AXIS1.MT.ACC 0	50d4h	01h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 1	50d4h	02h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 2	50d4h	03h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 3	50d4h	04h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 4	50d4h	05h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 5	50d4h	06h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 6	50d4h	07h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 7	50d4h	08h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 8	50d4h	09h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 9	50d4h	0ah	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 10	50d4h	0bh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 11	50d4h	0ch	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 12	50d4h	0dh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 13	50d4h	0eh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 14	50d4h	0fh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 15	50d4h	10h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 16	50d4h	11h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 17	50d4h	12h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 18	50d4h	13h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 19	50d4h	14h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 20	50d4h	15h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 21	50d4h	16h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 22	50d4h	17h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 23	50d4h	18h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 24	50d4h	19h	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 25	50d4h	1ah	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 26	50d4h	1bh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 27	50d4h	1ch	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 28	50d4h	1dh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 29	50d4h	1eh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 30	50d4h	1fh	Unsigned32	Acceleration	-	Read/Write	No
AXIS1.MT.ACC 31	50d4h	20h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 0	51d4h	01h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 1	51d4h	02h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 2	51d4h	03h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 3	51d4h	04h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 4	51d4h	05h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 5	51d4h	06h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 6	51d4h	07h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 7	51d4h	08h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 8	51d4h	09h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 9	51d4h	0ah	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 10	51d4h	0bh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 11	51d4h	0ch	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 12	51d4h	0dh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 13	51d4h	0eh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 14	51d4h	0fh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 15	51d4h	10h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 16	51d4h	11h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 17	51d4h	12h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 18	51d4h	13h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 19	51d4h	14h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 20	51d4h	15h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 21	51d4h	16h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 22	51d4h	17h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 23	51d4h	18h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 24	51d4h	19h	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 25	51d4h	1ah	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 26	51d4h	1bh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 27	51d4h	1ch	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 28	51d4h	1dh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 29	51d4h	1eh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 30	51d4h	1fh	Unsigned32	Acceleration	-	Read/Write	No
AXIS2.MT.ACC 31	51d4h	20h	Unsigned32	Acceleration	-	Read/Write	No

EtherNet/IP
Name	ID	Hex	Data Type	Access	Units
AXIS1.MT.ACC	6300	189C	Unsigned32[32]	Read/Write	Acceleration
AXIS2.MT.ACC	71836	1189	Unsigned32[32]	Read/Write	Acceleration

PROFINET
Parameter	PNU	Data Type	Access	Units
AXIS#.MT.ACC	6300	Float[32]	Read/Write	Acceleration