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 Disabled + Reset (Coldstart)   PROFIBUS PNU 1945 (dec) IND = 1 (dec)
Range 0, 1, .. , 5   DPR 345 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer32
Drive State -   Weighting  
Start Firmware 3.41    
Configuration Yes   Last Change of this Object 1.7
Function Group Amplifier   EEPROM Yes
Short Description Type of acceleration command 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 also for the ramps of the speed controller.

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

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. This setting is done with ACCUNIT starting with Firmware version 4.02. Before that, the ramps were calculated in msec.

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