%BLD – Enter boot-load mode
Sets the deceleration time or acquires the current set value. Deceleration time is available as a global value for all axes and a value settable for each axis
Applies to: CMD-4CR, CMD-4EX-SA, PMX-4EX-SA, PMX-4ET-SA, PMX-2ED-SA, PMX-2EX
ASCII/Standalone decel global acceleration setting
decel[axis] individual axis acceleration setting
Syntax:
Read:
decel[axis]
|
Where: [axis] is set to X, Y, Z, U, or not specified to read global value |
Write:
decel[axis]=[accel]
|
Where: [axis] is set to X, Y, Z, U, or not specified to read global value [accel] is the deceleration time in ms (0 – 65,535) |
Reply:
Command is accepted and executed
Read:
Returns the value of the [axis] deviation counter (28-bit value)
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:
decel=300 * Sets deceleration time to 300 ms for all axes.
Notes:
- 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:
- The corresponding individual deceleration setting is defined as zero.
- 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
accelX=500
accel=300
decel=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.