MT Parameters and Commands
MT.ACC
General Information
Type R/W Parameter
Description Specifies motion task acceleration; active in opmode 2 (position) only.
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
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 4,166,666.752 (PIN/POUT)/s²
0.195 to 5,235,987.968 rad/s²
Linear:
0.000 to 833.333 counts/s²
0.031*MOTOR.PITCH to 833,333.333*MOTOR.PITCH mm/s²
30.994*MOTOR.PITCH to 833,333,333.333*MOTOR.PITCHµm/s²
0.155 to 4,166,666.667 (PIN/POUT)/s²
Default Value
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.PITCHMOTOR.PITCH mm/s²
166,714.191*MOTOR.PITCHMOTOR.PITCH µm/s²
833.571 (PIN/POUT)/s²
Data Type Float
See Also
MT.NUM , MT.P, MT.V, MT.CNTL, MT.DEC, MT.TNUM, MT.MTNEXT ,
MT.TNEXT, MT.SET , MT.LOAD
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
6083h/0 M_01-00-00-000
Modbus 526 (64-bit) M_01-03-00-000
Description
MT.ACC specifies the motion task acceleration and is used by the MT.SET and MT.LOAD command. This
parameter is a temporary value, since a motion task is only set after a MT.SET command. The motion task
acceleration is further limited by the maximum allowed acceleration DRV.ACC
AKD User Guide | MT Parameters and Commands
Kollmorgen | December 2010 513
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