T-Series/Commands/Set Acceleration/T-Series Motorized Devices
Warning: This is an "include" page. As such, its contents may be included in multiple other pages. To see a list of all pages that include this page, click on "What links here" in the bottom left navbar. If you make changes to this page, be sure that your changes are appropriate to all pages on which this content will be included. You are also encouraged to review our Zaber Wiki Editing Guidelines. This header will not be included in other pages.
|Instruction Name||Set Acceleration|
|Applies to||T-Series motorized devices|
|Safe to retry?||Yes|
|Returns Current Position?||No|
|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. To determine the acceleration that will result from a given data value, the following formulas may be used:
- Actual Acceleration
- = 11250 * Data * M mm/s^2 or deg/s^2
- = 11250 * Data microsteps/s^2
- = 11250 * Data / R steps/s^2
- 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.