Sets the deceleration time or acquires the current set value. Deceleration time is available as a global value for all axes and a value that can be set for each axis


Applies to: CMD-4CR, CMD-4EX-SA


ASCII/Standalone                DEC                global  acceleration setting

       DEC[axis]        individual axis acceleration setting



Syntax:                

Read:

DEC[axis]                

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value


Write:

DEC[axis]=[dec]                 

Where:        [axis] is set to X, Y, Z, U, or not specified to read global value

[dec]      is the deceleration time in ms (0 – 65,535)


Reply: 

Command is accepted and executed

Read:         

Returns the DEC parameter entered (deceleration time in ms).


Write:           

OK


Command cannot be processed

       An error message is returned. See Error Codes

Example: 

Read:        

DECY                * Returns deceleration time set for the Y axis in ms


Write:        

DEC=300         * Sets deceleration time to 300 ms for all axes.



Notes:

  • If DEC is set to 0, then ACC setting is used for Acceleration and Deceleration time. 
  • Deceleration time should be equal to or less then 2 times acceleration time.
  • Deceleration is time entered in milliseconds. Deceleration rate in pps2 (pulses/second2) can be calculated with the following formula.    

  • The minimum and maximum deceleration values depend on the high-speed and low-speed settings. Refer to Speed Settings for details.


  • Individual deceleration settings will take priority over the global deceleration settings. A global deceleration setting will only be used when, ether one of the following conditions is true:


    1. The corresponding individual deceleration setting is defined as zero.
    2. A coordinated motion is being performed.


In the example below, the settings will set both the global speed settings as well as the individual speed setting for the X axis.


HSPD=10000

HSPDX=2000

LSPD=300

ACCX=500

ACC=300

DEC=300


Once a move command is issued in this example, the global speed settings for the low speed and deceleration, and the individual X-axis speed settings for the high speed and acceleration will be used for motion.

See also:

Motion Settings

LSPD, HSPD, ACC, SCV, JKA, JKD 

Commander Manual

2.1.4 Motion Profile, B.1 Acceleration/Deceleration Range, B.2 Acceleration/Deceleration Range – Positional Move, 2.1.3.1.1.2 Slowdown switches