T-Series/Commands/Set Acceleration/T-Series Motorized Devices

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Instruction Name Set Acceleration
Applies to T-Series motorized devices
Firmware Version 5.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 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

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.