DRV.DEC
Description
DRV.DEC sets the deceleration value for the velocity loop command (VL.CMDU) and for the analog velocity command (). The operation mode (DRV.OPMODE) must be set to velocity mode for this command to function.
General Information
Type |
NV Parameter |
Units |
Depends on UNIT.ACCROTARY (pg 1) or UNIT.ACCLINEAR (pg 1) Rotary: rps/s, rpm/s, deg/s², (custom units)/s², rad/s² Linear: counts/s², mm/s², µm/s², (custom units)/s² |
Range |
Rotary: 0.002 to 833,333.333 rps/s 0.112 to 50,000,000.000 rpm/s 0.009 to 300,000,000.000 deg/s² 0.155 to 4,166,666.752 (custom units)/s² 0.012 to 5,235,987.968 rad/s² Linear: 16,000.000 to 3,579,139,408,000.000 counts/s² 0.031*MOTOR.PITCH to 833,333.333*MOTOR.PITCH mm/s² 30.994*MOTOR.PITCH to 833,333,333.333*MOTOR.PITCH µm/s² 0.155 to 4,166,666.667 (custom units)/s² |
Default Value |
Rotary: 166.669 rps/s 10,000.000 rpm/s 60,000.000 deg/s² 833.333 (custom units)/s² 1,047.2 rad/s² Linear: 715,840,000.000 counts/s² 166.71*MOTOR.PITCH4MOTOR.PITCH mm/s² 166,714.191*MOTOR.PITCHMOTOR.PITCH µm/s² 833.571 (custom units)/s² |
Data Type |
Float |
Start Version |
M_01-00-00-000 |
Variant | Supported |
---|---|
MKD EtherCAT | Yes |
AKD-N | Yes |
MKD-N | Yes |
MKD-C | No |
Index/Subindex | Object Start Version |
---|---|
3522h/0 6084h/0 |
M_01-00-00-000 |
Related Topics
DRV.ACC, DRV.OPMODE