T-Series/Commands/Set Acceleration/General
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| Instruction Name | Set Acceleration |
|---|---|
| Applies to | All motorized devices |
| Firmware Version | 5.00 and up |
| 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 at a rate determined by this command "Set Acceleration" up to a maximum speed determined by the target velocity. 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.
The conversion between device acceleration and command data value depends on the device firmware version:
- T-Series devices - Firmware 5.xx
- Actual Acceleration
- = 11250 * Data * M mm/s^2 or deg/s^2
- = 11250 * Data microsteps/s^2
- = 11250 * Data / R 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 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.
- A-Series and X-Series devices - Firmware 6.xx
- 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.