Command 52: Informs the Controller of deceleration setting value and sets acceleration and deceleration

Informs the Controller of deceleration setting value and sets acceleration and deceleration.

Command Syntax

	bit	Name	Description
Parameter 1	15	decel High-order word	Specifies the value which is the actual deceleration in linear or CP motion (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. High-order side 16 bit.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 2	15	decel Low-order word	Specifies the value which is the actual deceleration in linear or CP motion (Unit: mm/sec2) × 1000 and converted to a 32-bit integer. Low-order side 16 bit.
	14
	｜
	1
	0

Response Syntax

Refer to the following.

Response Codes

Description

This command sets deceleration value when setting acceleration and deceleration separately. This command does not function by itself. Settings of acceleration and deceleration will be executed when acceleration is set by the Command 51 right before this command. If the previous command is not the Command 51, an error response will be returned.

Setting values should be specified as fixed-point data which validates to three decimal places.

Example

When acceleration is set to “100.123” and deceleration is “200.000”.

Command	Response
0033H 0001H 871BH 0034H 0003H 0D40H	0033H 0000H 0000H *1 0034H 0000H 0000H *2

*1 Notifies the acceleration value by the command No. 51.

*2 Notifies the deceleration value by the command No.52. Command sequence is completed and settings of acceleration and deceleration will be executed.