Difference between revisions of "MC-Basic:element.DECELERATION"
(new page) |
(Added ASCALE.) |
||
| Line 1: | Line 1: | ||
| − | {{Languages|MC-Basic:element.DECELERATION}} | + | {{Languages|MC-Basic:element.DECELERATION}} |
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
| Line 13: | Line 13: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | 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 sets the deceleration rate of the motion profile. When executing a motion command, deceleration should be less than or equal to [[MC-Basic:element.DECELERATIONMAX|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. | ||
| − | + | Active only when [[MC-Basic:element.VELOCITYSETTINGS|VelocitySettings]] is set to 0. When VelocitySettings is set to 1, [[MC-Basic:element.ASCALE|ASCALE]] is used. | |
|TYPE= | |TYPE= | ||
| Line 57: | Line 58: | ||
* [[MC-Basic:element.ACCELERATIONMAX|element.ACCELERATIONMAX]] | * [[MC-Basic:element.ACCELERATIONMAX|element.ACCELERATIONMAX]] | ||
* [[MC-Basic:element.DECELERATIONMAX|element.DECELERATIONMAX]] | * [[MC-Basic:element.DECELERATIONMAX|element.DECELERATIONMAX]] | ||
| − | + | * [[MC-Basic:element.ASCALE|element.ASCALE]] | |
}} | }} | ||
Latest revision as of 09:22, 26 January 2024
| Language: | English • 中文（简体） |
|---|
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.
Active only when VelocitySettings is set to 0. When VelocitySettings is set to 1, ASCALE is used.
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