MC-Basic:element.DECELERATION
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This property sets the deceleration rate of the motion profile. When executing a motion command, deceleration should be less than or equal to DECELERATIONMAX. If it is greater, the motion is executed at the DECELERATIONMAX value.
This property can be used inside a motion command to override the permanent value.
Short form
<element>.Dec
Syntax
<element>.Deceleration = <expression>
?<element>.Deceleration
Availability
All versions
Type
Double
Range
Greater than 0
Units
User axis acceleration units, as given by <axis>.AccelerationFactor
Default
Axis - 1000
Group - 500
Scope
Configuration, Task or Terminal
Limitations
The ratio between Jerk and Deceleration is limited by the following relation:
Jerk/Dec < 0.9 × π/5T
where T is the sample time in seconds.
For a cycle time of 2 ms, this value is 282.74. Use SMOOTHFACTOR to have jerk calculated automatically.
To set the value within a task, the element must be attached to that task (using the ATTACH command).
Examples
Axis
A1.deceleration = 1e10
Move A1 100 dec = 2e10
Group
G1.deceleration = 1e10
Move G1 {100, 200} dec = 2e10