18 ● AC DMC-40x0 Command Reference
AC
FUNCTION: Acceleration
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate of the motors for independent
moves, such as PR, PA and JG moves. The acceleration rate may be changed during motion.
The DC command is used to specify the deceleration rate.
ARGUMENTS: AC n,n,n,n,n,n,n,n or ACA=n where
n is an unsigned number in the range 1024 to 1073740800. The parameters input will be rounded
down to the nearest factor of 1024. The units of the parameters are counts per second squared.
n = ? Returns the acceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving Yes Default Value 256000
In a Program Yes Default Format 10.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ACx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
DC Specifies deceleration rate.
FA Feedforward Acceleration
IT Smoothing constant - S-curve
EXAMPLES:
AC 150000,200000,300000,400000 Set A-axis acceleration to 150000, B-axis to
200000 counts/sec2, the C axis to 300000
counts/sec2, and the D-axis to 400000
count/sec2.
AC ?,?,?,? Request the Acceleration
149504, 199680, 299008, 399360 Return Acceleration
(resolution, 1024)
V=_ACB Assigns the B acceleration to the variable V
Hint: Specify realistic acceleration rates based on your physical system such as motor torque rating,
loads, and amplifier current rating. Specifying an excessive acceleration will cause large following error
during acceleration and the motor will not follow the commanded profile. The acceleration feedforward
command FA will help minimize the error.
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