Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.24.2 MOVE.ACC
General Information
Type R/W
Description Sets the maximum commanded acceleration rate when the speed is increased.
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
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1088 Yes 64 bit No M_01-05-11-000
Description
Sets the maximum commanded acceleration rate when the speed is increased. Set
MOVE.ACC prior to initiating the move. You can update MOVE.ACC during a move by execut-
ing an MOVE.GOUPDATE statement.
MOVE parameters are only valid when DRV.OPMODE = 3 and
DRV.CMDSOURCE = 5.
Kollmorgen™ | March 30, 2012 362

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English