Acceleration

Default: 1000
Range: 0 to 65535

This parameter defines the acceleration ramp rate used by the axis for a move. It has four meanings depending on the Acceleration and Deceleration Mode bits in the Mode word.

In Mode 0, this parameter is interpreted as an acceleration rate and is expressed in Position Units/sec/sec. If Scale is set so one Position Unit equals 0.001", then a value of 200 would represent an acceleration rate of 0.200 inches/sec/sec. In Mode 0, the relationship between the ramp distance, Acceleration and Speed is:

Ramp Distance	=	Speed x Speed
		Acceleration x 2

Acceleration	=	Speed x Speed
		Ramp Distance x 2

In Mode 1, this field is an acceleration rate and is expressed in 1000 position units/sec/sec. If the Scale is set so one position unit equal 0.001”, then a value of 200 would represent an acceleration rate of 200 inches/second/second. In Mode 1, the relationship between the ramp distance, acceleration and speed is:

Ramp Distance	=	Speed x Speed
		Acceleration x 2000

Acceleration	=	Speed x Speed
		Ramp Distance x 2000

In Mode 2, this parameter defines the distance (in position units) it will take to ramp to the specified Speed.

In Mode 3, it defines the time (in milliseconds) it will take to ramp to the specified Speed.