T-Series/Commands/Set Acceleration/A-Series Motorized Devices
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| Instruction Name | Set Acceleration |
|---|---|
| Applies to | A-Series and X-Series motorized devices |
| Firmware Version | 6.xx |
| Command Number | 43 |
| Command Type | Setting |
| Command Data | Acceleration |
| Reply Data | Acceleration |
| Safe to retry? | Yes |
| Returns Current Position? | No |
| Persistence | Non-Volatile |
| Summary | Sets the acceleration used by the movement commands. |
When a movement command is issued, the device will accelerate and decelerate at a rate determined by this command. The acceleration may be changed on-the-fly even when the device is in the middle of a move.
It is possible to set acceleration and deceleration separately in A-Series and X-Series devices. In which case, use Set Acceleration Only (Cmd 113) and Set Deceleration Only (Cmd 114) instead. When acceleration and deceleration values are different, Return Setting(Data = Set Acceleration) returns the acceleration value only.
To determine the acceleration that will result from a given data value, the following formulas may be used:
- Actual Acceleration
- = 10000 * Data * M / 1.6384 mm/s^2 or deg/s^2
- = 10000 * Data / 1.6384 microsteps/s^2
- = 10000 * Data / R / 1.6384 steps/s^2
Where:
- Data is the value specified in the Command Data
- M (mm or deg) is the microstep size
- R is the microstep resolution set in command #37 (microsteps/step)
The maximum value is 32767.