Live accel param from trajectory interpolator
If you need a parameter for acceleration that is equivalent to the VP_SPEED parameter for speed. There is a VP_ACCEL axis parameter that is available when the correct VP_MODE is used. It is always 0 in the nomral default mode. Set VP_MODE = 5 (It is not documented in the help yet, but this is the recommended mode now) and you get smoother jerk control on the profile. You can also use VP_ACCEL and VP_JERK both in the scope and in your program.
The VP_SPEED, VP_ACCEL and VP_JERK only work with profiled moves. Linked moves like CONNECT and MOVELINK do not have a defined motion profile becasue they just follow the master link axis.
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