IL.CMDACC

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General Information
Type	R/O Parameter
Description	Returns the commanded acceleration from the trajectory generator.
Units	Depends on UNIT.ACCLINEAR or UNIT.ACCROTARY.
Range	+/- 64bit
Default Value	0
Data Type	Float
Start Version	M_01-08-03-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Is 64 bit?	Attributes	Signed?
ModbusModBus is a serial communications protocol and is now the most commonly available means of connecting industrial electronic devices. ModBus is often used to connect a supervisory computer with a remote terminal unit in supervisory control and data acquisition (SCADA) systems. Versions of the ModBus protocol exist for serial port and Ethernet (it is widely used with TCP/IP over Ethernet)	1760	Yes	64-bit	Yes

Description

Use IL"Instruction list" This is a low-level language and resembles assembly.CMDACC to monitor the commanded acceleration for a given motion. This keyword is useful for tuning acceleration feedforward (IL.KACCFF).