Rexroth Indramat CLM1.4, Manual

Page: 51 / 274

5-10
Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
5.7 Description of Commands
ACC - Acceleration Change
or
Deceleration in ‰ of the value programmed in Parameter Ax09
Acceleration in ‰ of the value programmed in Parameter Ax09
Axis: 1 to 4
Acceptance of the new acceleration and deceleration value is immediate.
The new acceleration and deceleration value is retained until changed by
a new 'ACC' command.
After switching from Automatic to Manual Mode, following an error or
start-up, the valid acceleration and deceleration value is always the value
programmed in Parameter Ax09.
Example of how to change the acceleration value:
0000 ACC 1 999 999 - Set acceleration to 100%
0001 POI 1 +000200.000
999 - Position, then proceed immediately
to next instruction
0002 AKN MX.xx.x - Wait until position is reached
Programmed in Parameter Ax27
0003 ACC 1 500 999 - Reduce acceleration to 50%
0004 WAI 00.100 - Wait until drive unit is stabilized
0005 PSI 1 +000300.000
999 - Positioning at 50% acceleration
without proceeding to next
instruction
0006 WAI 02.000 - Wait 2 seconds
0007 JST 0000 - Program end in instruction 0000
Fig. 5-3: Example of Programming an Acceleration Change
Acc_elc.WMF
Fig. 5-4: : Example Showing Acceleration Change
The program proceeds to the next instruction following the time period of
one cycle.
ACC V602 V600 V601
ACC 1 999 999