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3.2.4.1.12
SET_ACC_MODE (0x21)
Set the type of acceleration and delay; valid as of the next positioning process.
Byte
MB0
MB1
MB2
MB3
MB4
MB5
ACC_T
ACC_M
DEC_T
DEC_M
WAGO-I/O-SYSTEM 750
I/O Modules
Request
7
6
5
4
2
2
2
2
0x40
T
0x21
DEC_M
DEC_T
Reserved
Reserved
0:
constant acceleration
1:
linear increase in acceleration
With ACC_M = 0, the period for acceleration increase is
Acc_ParamUp, the increase in acceleration is calculated at
ACC_M <> 0.
2:
sin^2 increase in acceleration
With ACC_M = 0, the period for acceleration increase is
Acc_ParamUp, the increase in acceleration is calculated at
ACC_M <> 0.
3:
Reserved
0:
no modification
1:
Acc_ParamUp interpreted as the acceleration period
2:
Acc_ParamUp interpreted as the acceleration path
3:
Reserved
0:
constant deceleration
1:
linear deceleration
With DEC_M = 0, the period for deceleration is Acc_ParamDown,
the increase in deceleration is calculated at DEC_M <> 0.
2:
sin^2 deceleration
With DEC_M = 0, the period for deceleration is Acc_ParamDown,
the increase in deceleration is calculated at DEC_M <> 0.
3:
Reserved
0:
no modification
1:
Acc_ParamDown interpreted as the deceleration period
2:
Acc_ParamDown interpreted as the deceleration path
3:
Reserved
Reference Commands for Move Mode
Setpoint commands
3
2
1
0
2
2
2
2
-
ACC_M
ACC_T
• 175
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