Newport ESP300 Series, User Manual

Page: 108 / 314

HD
set group deceleration
IMM PGM MIP
USAGE
♦ ♦ ♦
SYNTAX xx HD nn or xx HD ?
PARAMETERS
Description
xx [ int ] - group number
nn [ float ] - vector deceleration value
Range
xx - 1 to MAX GROUPS
nn - 0 to minimum of the maximum deceleration values of all
axes assigned to this group.
Units
xx - none
nn - predefined units / second
2
Defaults xx
missing: error 13, GROUP NUMBER MISSING
out of range: error 14, GROUP NUMBER OUT OF RANGE
not assigned: error 15, GROUP NUMBER NOT ASSIGNED
floating point: truncated
nn missing: error 7, PARAMETER OUT OF RANGE
negative: error 22, GROUP PARAMETER OUT OF RANGE
out of range: error 25, GROUP MAXIMUM DECELERATION
EXCEEDED
DESCRIPTION
This command is used to set the vectorial deceleration value for a group. This
value will be used during coordinated motion of axes assigned to the group. It
will override any original deceleration values specified for individual axes using
AG command. The axes’ original values will be restored when the group to
which they have been assigned is deleted.
This command takes effect immediately. It can be executed when controller is
idling or motion is in progress or inside a program.
Note:
Avoid changing deceleration during acceleration or deceleration phases of a
move. For better predictable results, change deceleration only when all the axes
assigned to this group are not in motion.
RETURNS
If “?” sign takes the place of nn value, this command reports the current setting.
REL. COMMANDS
AU - set maximum acceleration and deceleration for an axis
HN - create a new group
HA - set vectorial acceleration for a group
3-68 Section 3 – Remote Mode