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178 • Reference Commands for Move Mode
Setpoint commands
3.2.4.1.14
SET_ACC_PARAM_UP (0x23)
Set the Acc_ParamUp parameter for acceleration; valid as of the next
positioning process.
The function for the acceleration parameter as a function of the set
acceleration modification is shown in the following table.
Acceleration modification
(SET_ACC_MODE ACC_M)
none
constant acceleration period
constant acceleration path
Acceleration parameter range: 1 ... 16777215.
Byte
MB0
MB1
MB2
MB3
MB4
MB5
Byte
MB0
MB1
MB2
MB3
MB4
MB5
Request
7
6
5
4
2
2
2
2
0x40
T
0x23
Acceleration parameter (LSB)
Acceleration parameter
Acceleration parameter (MSB)
Response
7
6
5
4
2
2
2
2
0x40
T
Return Code
0x23
Reserved
Reserved
Reserved
Acceleration parameter
Acc_ParamUp
Time constant for acceleration increase
2
with linear or sin
*t acceleration
Acceleration time
Acceleration path
3
2
1
0
2
2
2
2
-
3
2
1
0
2
2
2
2
WAGO-I/O-SYSTEM 750
I/O Modules
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