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RAMP will set both accel and decel values. ACCEL and DECEL gives the flexibility to change both independently. The difference between using the ACCEL and DECEL commands or using the RAMP motion commands is one of user convenience and operational flexibility. Using the ACCEL and DECEL commands provides the flexibility of setting different values for acceleration and deceleration, but when using the RAMP commands, the same value is set for both acceleration and deceleration.

Note that RAMP commands only work for coordinated motion (LINEAR, CW, CCW, etc.), and do not affect the motion for MOVEINC, MOVEABS, FREERUN, etc. commands. Those commands use the DefaultRampRate parameter, and you would need to change that parameter to control the ramping for those commands.

Also, you do not need to specify the RAMP MODE command more than one time in a program (unless you are actually changing modes within the program, say from rate-based to distance-based). Typically, this command would be specified at the top of the program, and then any time you want to change the acceleration, issue the RAMP RATE (or TIME/DIST depending on the mode you are using) command to change the ramping.