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ADA5
; Set avg. decel to 5 revs/sec/sec
V5
; Set velocity to 5 revs/sec
GO1
; Execute motion
END
; End definition of prog1
DEL Prog2
; Delete program called prog2
DEF Prog2
; Begin definition of prog2
MA0
; Select incremental positioning mode
D40000
; Set distance to 40,000 positive-direction counts
A10
; Set max. accel to 10 revs/sec/sec
AA10
; Set avg. accel to 10 revs/sec/sec
AD10
; Set max. decel to 10 revs/sec/sec
ADA10
; Set avg. decel to 10 rev/sec/sec
V5
; Set velocity to 5 revs/sec
GO1
; Execute motion
END
; End definition of program #2
AD
Deceleration
Type
Motion
Syntax
<a_><!>AD<r>
Units
r = units/sec/sec
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0, or 0.0001 – 9999.9999
Default
10.0000 (by default, AD tracks A until AD is changed
independent of A; to restore tracking, set AD = 0)
Response
AD:
*AD10.0000
See Also
[ A ], A, AA, ADA, DMEPIT, DRES, ERES, GO, IF, LHAD, LSAD, MC,
VARI, SCALE, SCLA, TSTAT, WAIT
The
command specifies the deceleration rate to be used upon executing the next go (
AD
UNITS OF MEASURE and SCALING: refer to page 16.
The deceleration remains set until you change it with a subsequent deceleration command. Decelerations
outside the valid range are flagged as an error, with a message
field number. When an invalid deceleration is entered the previous deceleration value is retained.
If the deceleration (
) command has not been entered, the acceleration (
AD
deceleration rate. Once the deceleration (
longer affects deceleration. If the
track whatever the
command is set to.
A
ON-THE-FLY CHANGES: You can change deceleration on the fly (while motion is in progress) in two
ways. One way is to send an immediate deceleration command (
command (
). The other way is to enable the continuous command execution mode (
!GO
execute a buffered deceleration command (
Example:
SCALE1
; Enable scaling
SCLA25000
; Set the acceleration scaling factor to 25000 counts/unit
SCLV25000
; Set the velocity scaling factor to 25000 counts/unit
SCLD1
; Set the distance scaling factor to 1 count/unit
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
MA0
; Incremental positioning mode
MC0
; Preset positioning mode
A10
; Set the acceleration to 10 units/sec/sec
AD1
; Set the deceleration to 1 units/sec/sec
V1
; Set the velocity to 1 units/sec
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
END
; End definition of program called proga
) command has been entered, the acceleration (
AD
command is set to zero (
AD
ADØ
) followed by a buffered go command (
AD
www.comoso.com
Product
GT6K
GV6K
) command.
GO
, where
*INVALID DATA-FIELD x
) command will set the
A
A
), then the deceleration will once again
) followed by an immediate go
!AD
COMEXC1
).
GO
Command Descriptions
Rev
6.0
6.0
is the
x
) command no
) and
41
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