AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.11.1 DRV.ACC
General Information
Type NV Parameter
Description Describes the acceleration ramp for the velocity loop.
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
Note: 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.
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
30.995*MOTOR.PITCH to 2,147,483.647*MOTOR.PITCH µm/s²
0.155 to 2,147,483.647 (custom units)/s²
Default
Value
Note: 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.
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.PITCH mm/s²
166,714.191*MOTOR.PITCH µm/s²
833.571 (custom units)/s²
Data Type Float
See Also DRV.DEC , UNIT.ACCLINEAR , UNIT.ACCROTARY
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3501h/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 216 Yes 64 bit No M_01-03-00-000
215 Kollmorgenâ„¢ | March 30, 2012
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