AXIS#.SAFE.SS1_#.DEC

Description

Sets the deceleration rate for the corresponding safe stop instance. When the safe stop instance is executed via safe input or FSoE the drive will attempt to stop following the associated deceleration rate. If multiple safe stop instances occur at the same time, the instance with the fastest deceleration rate will be used.

If AXIS#.SAFE.SS1_#.MODE is set to fieldbus control, the drive will not decelerate on its own and this parameter is ignored.
 

If the deceleration rate is too slow for the configured max. time (AXIS#.SAFEPARAM.SS1_#.TIMETOSTO), the drive will be disabled via STO. The maximum time, normal operating speed, and the deceleration rate should be configured to ensure the drive stops under control before the time expires.

Examples

Below is an example of SS1_1.DEC set to 5k rpm/s deceleration and then a recording showing what happens when the SS1_1 is triggered.

 

Context

For complete SS1 information refer to (see "SS1-t (Safe Stop 1)") / (see "SS1-r (Safe Stop 1)").

Related safety parameters:

Versions

Action Version Notes

Implemented

02-01-00-000

General Information

Type

Read/Write

Units

Rotary: RPM/s, RPS/s, deg/s², (custom units)/s², rad/s²
Linear:counts/s², mm/s², µm/s², (custom units)/s²
See Acceleration Units for details.

Range

Depends on units.
See Acceleration Units for details.

Default Value

10,000 RPM/s, depends on units.
See Acceleration Units for details.

Data Type

Float

Stored in Non-Volatile Memory

Yes

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.SAFE.SS1_1.DEC

5007h

0ah

Unsigned32

Acceleration

-

Read/Write

No

AXIS1.SAFE.SS1_2.DEC

5007h

0bh

Unsigned32

Acceleration

-

Read/Write

No

AXIS1.SAFE.SS1_3.DEC

5007h

0ch

Unsigned32

Acceleration

-

Read/Write

No

AXIS2.SAFE.SS1_1.DEC

5107h

0ah

Unsigned32

Acceleration

-

Read/Write

No

AXIS2.SAFE.SS1_2.DEC

5107h

0bh

Unsigned32

Acceleration

-

Read/Write

No

AXIS2.SAFE.SS1_3.DEC

5107h

0ch

Unsigned32

Acceleration

-

Read/Write

No