8 GCS Commands
C-863.12 Mercury Controller
MS249E
Version: 1.2.1
129
ACC (Set Closed-Loop Acceleration)
Description:
Sets acceleration of specified axes.
ACC can be changed while the axis is moving.
Format:
ACC {<AxisID> <Acceleration>}
Arguments:
<AxisID> is one axis of the controller
<Acceleration> is the acceleration value in physical
units/s
2
.
Response:
None
Troubleshooting: Illegal axis identifiers
Notes:
The ACC setting only takes effect when the specified axis is
in closed-loop operation (servo mode ON).
The lowest possible value for <Acceleration> is 0.
ACC changes the value of the
Closed-Loop Acceleration
(Phys. Unit/s
2
)
parameter (ID 0xB) in the volatile memory
of the C-863.12. The parameter value can be stored as
default with WPA (p. 205), for details see "Adapting
Settings" (p. 231).
The maximum value that can be set with the ACC
command is specified by the
Maximum Closed-Loop
Acceleration (Phys. Unit/s
2
)
parameter (ID 0x4A).
ACC? (Get Closed-Loop Acceleration)
Description:
Queries the acceleration value set with ACC (p. 129).
If all arguments are left out, gets the value of all axes set
with ACC.
Format:
ACC? [{<AxisID>}]
Arguments:
<AxisID> is one axis of the controller
Response:
{<AxisID>"="<float> LF}
where