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[ A ]
Acceleration Assignment
Type
Assignment or Comparison
Syntax
See below
Units
units/sec/sec
Range
0.0001 – 9999.9999
Default
n/a
Response
n/a
See Also
A, AA, AD, ADA, DRES, ERES, GO, SCALE, SCLA
The acceleration assignment command is used to compare the programmed acceleration value to another
value or variable, or to assign the current programmed acceleration to a variable.
Syntax:
, where
VARn=A
n
. The (
IF(A<25000)
programmed (
) value.
A
UNITS OF MEASURE and SCALING: refer to page 16.
Example:
IF(A<25000)
; If the acceleration is less than 25000 units/sec/sec,
; then do the statements between the IF and NIF
VAR1=A*2
; Variable 1 = acceleration times 2
A(VAR1)
; Set the acceleration to the value of variable 1
NIF
; End the IF statement
AA
Average Acceleration
Type
Motion (S-Curve)
Syntax
<a_><!>AA<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0, or 0.0001 – 9999.9999
Default
10.00 (Default is a constant accel ramp, where AA tracks A.
S-curve accel is achieved when AA is changed independent of A.
To restore a constant accel ramp and tracking, set AA = 0.)
Response
AA:
*AA10.0000
See Also
A, AD, ADA, SCALE, SCLA, DMEPIT
The
command allows you to specify the average acceleration for an S-curve motion profile. S-curve
AA
profiling provides smoother motion control by reducing the rate of change in acceleration and deceleration;
this accel/decel rate of change is known as jerk. Refer to page
Scaling affects the average acceleration (
page
16
for details on scaling.
ON-THE-FLY CHANGES: You can change acceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate acceleration command (
command (
). The other way is to enable the continuous command execution mode (
!GO
execute a buffered acceleration command (
Example:
; In this example, prog1 executes a pure S-curve and takes 1 second
; to reach a velocity of 5 rps; prog2 executes a trapezoidal profile
; and takes 0.5 seconds to reach a velocity of 5 rps.
SCALE0
; Disable scaling
DEL Prog1
; Delete program called prog1
DEF Prog1
; Begin definition of prog1
MA0
; Select incremental positioning mode
D40000
; Set distance to 40,000 positive-direction counts
A10
; Set max. accel to 10 revs/sec/sec
AA5
; Set avg. accel to 5 revs/sec/sec
AD10
; Set max. decel to 10 revs/sec/sec
40
Gemini GV6K/GT6K Command Reference
is the variable number, or
can be used in an expression such as
A
) value used in any comparison, or in any assignment statement is the
A
) the same as it does for the maximum acceleration (
AA
) followed by a buffered go command (
AA
www.comoso.com
Product
GT6K
GV6K
Product
GT6K
GV6K
15
for details on S-curve profiling.
) followed by an immediate go
!AA
COMEXC1
).
GO
Rev
6.0
6.0
Rev
6.0
6.0
). Refer to
A
) and
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