To set the speed pps and acceleration/retardation acc parameters for the PLC's stepper motor motion controller (pulse-generator) channel #ch.
ch should return a value of between 1 and 8. Speed pps is based on no. of pulse per second (pps) output by the pulse generator. The acceleration acc determines the total number of steps taken to reach full acceleration from standstill and the number of steps from full speed to a complete stop. The stepper motor calculates and performs the speed trajectory according to these parameters when the command STEPMOVE is executed.
STEPSPEED command should be executed at least once before executing any STEPMOVE command to control the pulse generation. The defined parameters will be remembered until another STEPSPEED statement operating on the same stepper channel is executed again.
The PLC's Stepper motor controller channel #2 is configured to send out pulses at 2000 pulses per second when STEPMOVE instruction is executed. It follows a linear acceleration trajectory which takes 20 pulses to reach the full speed of 2000 pps. This is equivalent to an acceleration of
a = 
= 
= 100,000 pulse/s2
