ACCUNIT

ASCII - Command	ACCUNIT
Syntax Transmit	ACCUNIT [Data]
Syntax Receive	ACCUNIT <Data>	Available in
Type	Variable rw	MMI	No
ASCII Format	Integer32	CANBus Object Number	3659 (hex)
DIM	-	PROFIBUS PNU	1945 (dec) IND = 0000xxxx (bin)
Range	0, 1, .. , 5	DPR	345 (dec)
Default	0
Opmode	All	Data Type Bus/DPR	Integer32
Drive State	-	Weightning
Start Firmware	3.41
Configuration	No	Revision	1.7
Function Group	Amplifier	EEPROM	Yes
Short Description	Type of acceleration setpoint for the system

Description

Using this command, the systemwide acceleration type is defined. This function is used for ramps of the trajectory generator (internal motion tasks OPMODE 8) and for the ramps of the speed controller.

ACCUNIT = 0 Acceleration is defined as acc time in msec
ACCUNIT = 1 Acceleration is defined in rad/sec²
ACCUNIT = 2 Acceleration is defined in rpm/sec
ACCUNIT = 3 Acceleration is defined in PUNIT/sec² (starting Version 4.00)
ACCUNIT = 4 Acceleration is defined in 1000*PUNIT/sec² (starting Version 4.00)
ACCUNIT = 5 Acceleration is defined 1000000*PUNIT/sec² (starting Version 4.00)

If ACCUNIT=0 is selected, the motion task acceleration can be given in mm/sec² (Bit 12 of the type of the motion task=1).

If ACCUNIT=1 is selected, this Bit is ignored, this means the ramps are calculated in rad/sec².

If ACCUNIT is changed, all acc/dec parameters are calculated in a different way to get the right unit. Affected are ACC, ACCR, DEC, DECR, DECSTOP, DECDIS.

The motion tasks are not affected. So, before defining a motion task ACCUNIT has to be set in right manner. If ACCUNIT is changed later, all motion tasks have to be proofed or changed !

The accdec-ramps of the motion tasks are limited bei PTMIN. This setting is done with ACCUNIT starting with Firmware version 4.02. Before that, the ramps were calculated in msec.

	High acceleration corresponds to small values of PTMIN at ACCUNIT=0. If ACCUNIT is > 0, PTMIN is small if the acceleration is high.