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

See Also