This parameter error is generated when the requested move fields would have generated a discontinuity in the speed. This occurs if the axis is stopped, and the user specifies an ACCELERATION distance of 0 on a move to another location. In order to carry out this request, the motion controller would have to instantaneously increase the speed to the maximum speed. This would generate a discontinuity, and therefore instead the move is rejected and this parameter error is generated. To fix this problem:
Verify that your control program is sending the command correctly.
If you really want to accelerate instantaneously to the maximum speed, you can use a very high ACCELERATION in Acceleration Modes 0 and 1, or a very low ACCELERATION in Acceleration Modes 2 and 3.
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