Yaskawa LEGEND-MC - Manual (Page 100)

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LEGEND-MC User’s Manual
DC (Deceleration)
[Motion]
DESCRIPTION:
The Deceleration command (DC) sets the linear deceleration rate for independent moves such as PR, PA
and JG moves. The parameters will be rounded down to the nearest factor of 1024 and have units of counts
per second squared.
ARGUMENTS: DC x, y, z, w or DCX=x or DC a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_DCn contains the deceleration rate in counts/sec
2
where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
*NOTE: The DC command may be changed during the move in JG move, but not in PR or PA
move. For controlled deceleration in abort conditions, use the ST command.The deceleration rate
can be changed after ST.
While Moving Yes* Minimum Value 1024
In a Program Yes Maximum Value 67107840
Command Line Yes Default Value 256000
Can be Interrogated Yes Default Format 8.0
Used as an Operand Yes Distributed Control Specific Axis
"AC" Acceleration
"PR" Position Relative
"SP" Speed
"JG" Jog
"BG" Begin
"IT" Smoothing constant - S-curve
PR 10000 Specify relative position
AC 2000000 Specify acceleration rate
DC 1000000 Specify deceleration rate
SP 5000 Specify slew speed
BG Begin motion