Optima DMC-1xxx and DMC-18x2 Command Reference
AC
i
13
AC
FUNCTION: Acceleration
DESCRIPTION:
The Acceleration (AC) command sets the linear acceleration rate of the motors for
independent moves, such as PR, PA and JG moves. The acceleration rate may be
changed during motion. The DC command is used to specify the deceleration rate.
ARGUMENTS: AC n,n,n,n,n,n,n,n or ACA=n where
n is an unsigned numbers in the range 1024 to 67107840. The parameters input will be
rounded down to the nearest factor of 1024. The units of the parameters are counts per
second squared.
n = ? Returns the acceleration value for the specified axes.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
256000
In a Program
Yes
Default Format
8.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ACx contains the value of acceleration for the specified axis.
RELATED COMMANDS:
"DC "
Specifies deceleration rate.
"
FA
" Feedforward
Accelleration
"IT "
Smoothing constant - S-curve
EXAMPLES:
AC 150000,200000,300000,400000
Set A-axis acceleration to 150000, B-axis to
200000 counts/sec2, the C axis to 300000
counts/sec2, and the D-axis to 400000
count/sec2.
AC ?,?,?,?
Request the Acceleration
0149504,0199680,0299008,0399360
Return Acceleration
(resolution, 1024)
V=_ACB
Assigns the B acceleration to the variable V
Hint: Specify realistic acceleration rates based on your physical system such as motor torque rating,
loads, and amplifier current rating. Specifying an excessive acceleration will cause large following
error during acceleration and the motor will not follow the commanded profile. The acceleration
feedforward command FA will help minimize the error.
