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

 ACC, HSPD, JKA, JKD, LSPD, PS, SCV, SSPDM

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