ASCII - Command ACCUNIT    
Syntax Transmit ACCUNIT [Data]    
Syntax Receive ACCUNIT <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer32   CANBus Object Number 3659 (hex)
DIM -   PROFIBUS PNU 1945 (dec) IND = 1 (dec)
Range 0,1, ... , 30   DPR 345 (dec)
Default 1    
Opmode All   Data Type Bus/DPR Integer32
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.13
Function Group digital I/O   EEPROM Yes
Short Description Type of acceleration setpoint for the system


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 also for the ramps of the speed controller.

ACCUNIT = 0 in ms up to VLIM or PVMAX
ACCUNIT = 1 Acceleration is defined in rad/secē
ACCUNIT = 2 Acceleration is defined in rpm/sec
ACCUNIT = 3 Acceleration is defined in PUNIT/secē
ACCUNIT = 4 Acceleration is defined in 1000*PUNIT/secē
ACCUNIT = 5 Acceleration is defined 1000000*PUNIT/secē

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

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.

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