HA set group acceleration
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxHAnn or xxHA?
PARAMETERS
Description xx [ int ] - group number
nn [ float ] - vector acceleration value
Range xx - 1 to MAX GROUPS
nn - 0 to minimum of the maximum acceleration values of all
axes assigned to this group.
Units xx - none
nn - predefined units / second
2
Defaults xx missing: error 13, GROUP NUMBER MISSING
out of range: error 14, GROUP NUMBER OUT OF RANGE
not assigned: error 15, GROUP NUMBER NOT ASSIGNED
floating point: truncated
nn missing: error 7, PARAMETER OUT OF RANGE
negative: error 22, GROUP PARAMETER OUT OF RANGE
out of range: error 24, GROUP MAXIMUM ACCELERATION
EXCEEDED
DESCRIPTION This command is used to set the vectorial acceleration value for a group. This
value will be used during coordinated motion of axes assigned to the group. It
will override any original acceleration values specified for individual axes using
AC command. The axes’ original values will be restored when the group to
which they have been assigned is deleted.
This command takes effect immediately. It can be executed when controller is
idling or motion is in progress or inside a program.
Note:
Avoid changing acceleration during acceleration or deceleration phases of a
move. For better predictable results, change acceleration only when all the axes
assigned to this group are not in motion.
RETURNS If “?” sign takes the place of nn value, this command reports the current setting.
REL. COMMANDS AU - set maximum acceleration and deceleration for an axis
HN - create a new group
HD - set vectorial deceleration for a group
Section 3 – Remote Mode 3-63
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