SD - Stop Deceleration
Purpose:
Defines the deceleration in counts/second
2
used to stop motions in case of emergency. In
addition, SD defines the acceleration limit for the combination of software and external
reference commands.
Position-controlled motions cannot be stopped abruptly, because:
The discontinuity in the reference speed may produce position errors in excess of
ER[3]. This cuts the motor drive to freewheeling, which may be a safety problem with
high inertia or fast-moving loads.
If the maximum allowed acceleration value (GS[9]) is not correctly set, generating a
large position error can destabilize the position controller.
The SD parameter must be defined as the largest deceleration in which the motor can
accelerate/decelerate to the load.
The SD acceleration is applied in the following cases:
An ST command or hardware stop command (refer to the IL[N] command)
Data underflow in a PT or PVT motion
Detection of a limit switch or an abort switch
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=0
Default value: 1,000,000,000 (RS), Non-volatile
Range: Stop deceleration range
Unit modes: UM=2, 3, 4, 5
Activation: MO=1
See also:
AC, DC, ST
Reference chapter in the
SimplIQ Software Manual:
Chapter 11, “Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-131
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