8.10 Change Linear Acceleration Time Constant (ACC)
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8.10 Change Linear Acceleration Time Constant (ACC)
The ACC command transfers the setting of the Linear Acceleration Time (motion setting parameter OL

36) to
the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting.
For the SGD-

N and SGDB-

AN SERVOPACKs, the deceleration time constant will be the same as the
acceleration time constant.
(1) Operating Procedure
(2) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL

02 and IL

04 are 0.
2 The Servo ON condition. IB

001 is ON.
3 Pulse distribution has been completed for the
SERVOPACK.
IB

0C0 is ON.
4 Motion command execution has been completed. IW

08 is 0 and IB

090 is OFF.
Execute the
ACC
motion command.
• Set OW

08 to 10.
• With the MECHATROLINK-II, there is the function that the
change of setting parameter is automatically updated. If utilizing
this function, there is no need to execute ACC command. For
details, refer to 7.2.1 Motion Fixed Parameter Details.
• The Command Pause (OB

090) cannot be used.
• The Command Abort (OB

091) cannot be used.
The Linear Acceleration Time Constant is set
in the SERVOPACK and enabled.
• IW

08 will be 10 during command
execution.
• IB

090 will be ON during command
execution.
Parameter change completed.
• IW

08 will be 10 and IB

090 will be
OFF.
Execute NOP motion command.
• Set OW

08 to 0.
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