T-Series/Commands/Set Acceleration
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[edit] Set Acceleration - Cmd 43
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| Instruction Name | Set Acceleration |
|---|---|
| Firmware Version | 5.00 and up |
| Command Number | 43 |
| Command Type | Setting |
| Command Data | Acceleration |
| Reply Data | Acceleration |
| Persistence | Non-Volatile |
| Summary | Sets the acceleration used by the movement commands. |
When a movement command is issued, the device will accelerate at a rate determined by this command "Set Acceleration" up to a maximum speed determined by the target velocity. To determine the acceleration that will result from a given data value, the following formulas may be used:
- Actual Acceleration
- = 11250*(Command Data) [microsteps/sec^2]
- = 11250*(CommandData/R) [steps/sec^2]
Where:
- "Command Data" is the value specified in the Command Data by the user
- R is the microstep resolution set in command #37(microsteps/step)
The maximum value allowable is (512*R-1). This is the same as the maximum allowable data for velocity, which means that the device will reach maximum velocity immediately. If acceleration is set to 0, it is as if acceleration is set to (512*R-1). Effectively acceleration is turned off and the device will start moving at the target speed immediately.
The acceleration may be changed on-the-fly even when the device is in the middle of a move. The device will still target the final position specified in the original move.
