DRV Parameters and Commands
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, (PIN/POUT)/s², rad/s²
Linear: counts/s², mm/s², µm/s², (PIN/POUT)/s²
Range
Note: The range and default values of (PIN/POUT)/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:
0.031 to 833,333.333 rps/s
1.860 to 50,000,000.000 rpm/s
11.158 to 300,000,000.000 deg/s²
0.155 to 4,166,666.666 (PIN/POUT)/s²
0.375 to 5,235,987.750 rad/s²
Linear:
0.000 to 833.333 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 (PIN/POUT)/s²
Default Value
Note: The range and default values of (PIN/POUT)/s² units depend on the
values of PIN and POUT. The range default values listed in this table are
derived from the default values of PIN and POUT.
Rotary:
166.714 rps/s
10,002.851 rpm/s
60,017.108 deg/s²
833.571 (PIN/POUT)/s²
1,047.496 rad/s²
Linear:
0.166 counts/s²
166.714*MOTOR.PITCH mm/s²
166,714.191*MOTOR.PITCH µm/s²
833.571 (PIN/POUT)/s²
Data Type Float
See Also DRV.DEC, UNIT.ACCLINEAR, UNIT.ACCROTARY
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3501h/0 M_01-00-00-000
Modbus 216 (64-bit) M_01-03-00-000
AKD User Guide | DRV Parameters and Commands
Kollmorgen | December 2010 341
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