diff --git a/docs/module_reference.md b/docs/module_reference.md
index caba433..4cff913 100644
--- a/docs/module_reference.md
+++ b/docs/module_reference.md
@@ -322,6 +322,8 @@ Although `get_acceleration()` prints only one acceleration per motor, `set_accel
 3. acceleration for speed mode
 4. deceleration for speed mode
 
+You can pass `0` to skip parameters, i.e. to keep individual acceleration values unchanged.
+
 ## RMD Motor Pair
 
 The RMD motor pair module allows to synchronize two RMD motors.
diff --git a/main/modules/rmd_motor.cpp b/main/modules/rmd_motor.cpp
index 5db7c1d..b3be436 100644
--- a/main/modules/rmd_motor.cpp
+++ b/main/modules/rmd_motor.cpp
@@ -144,7 +144,10 @@ void RmdMotor::call(const std::string method_name, const std::vector<ConstExpres
     } else if (method_name == "set_acceleration") {
         Module::expect(arguments, 4, integer, integer, integer, integer);
         for (uint8_t i = 0; i < 4; ++i) {
-            set_acceleration(i, arguments[i]->evaluate_integer());
+            int acceleration = arguments[i]->evaluate_integer();
+            if (acceleration > 0) {
+                set_acceleration(i, acceleration);
+            }
         }
     } else if (method_name == "clear_errors") {
         Module::expect(arguments, 0);