AXIS#.SAFE.SS2_#.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 AXISx.SAFE.SS2_x.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 (AXISx.SAFEPARAM.SS2_x.TIMETOSOS), the drive will trigger the configured fault reaction (AXISx.SAFEPARAM.SS2_x.FAULTREACTION). 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 SS2_1.DEC set to 2,500 rpm/s deceleration and a recording showing what happens when SS2_1 is triggered. The axis comes to a standstill all while staying within all set safety limits.
Context
For complete SS2 information refer to see "SS2 (Safe Stop 2)".
Related safety parameters:
- AXISx.SAFE.SS2_x.ACTIVE
- AXISx.SAFE.SS2_x.INTERNALSTATE
- AXISx.SAFE.SS2_x.MODE
- AXISx.SAFEPARAM.SS2_x.TIMETOSOS
Versions
| Action | Version | Notes |
|---|---|---|
|
Implemented |
02-04-00-000 |
Implemented in SMM revision v0.56 |
General Information
|
Type |
Read/Write |
|
Units |
Rotary: RPM/s, RPS/s, deg/s², (custom units)/s², rad/s² |
|
Range |
Depends on units. |
|
Default Value |
10,000 RPM/s, depends on units. |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.SAFE.SS2_1.DEC |
5007h |
0fh |
Unsigned32 |
Acceleration |
- |
Read/Write |
No |
|
AXIS1.SAFE.SS2_2.DEC |
5007h |
10h |
Unsigned32 |
Acceleration |
- |
Read/Write |
No |
|
AXIS2.SAFE.SS2_1.DEC |
5107h |
0fh |
Unsigned32 |
Acceleration |
- |
Read/Write |
No |
|
AXIS2.SAFE.SS2_2.DEC |
5107h |
10h |
Unsigned32 |
Acceleration |
- |
Read/Write |
No |
