Constant Deceleration

In the Constant Deceleration profile, velocity, acceleration, and deceleration are not specified, and the profile is calculated from the starting velocity, end velocity, and target position.

The axis decelerates at a constant deceleration from the starting velocity to the end velocity (or constant acceleration if the end velocity is greater than the starting velocity). The axis will be at the target position when it reaches the end velocity.

The minimum value for the deceleration (or acceleration) is 0.000001 user unit / sec^2. If the starting velocity and end velocity are close or the target position is far, and the calculated deceleration (or acceleration) is less than the minimum value, the deceleration (or acceleration) is set to the minimum value. In this case, after reaching the end velocity, the axis will continue to move at the end velocity until it reaches the target position.

When this profile is used for an override command, the starting velocity can be set to the velocity at the time of the override by specifying 0 for the starting velocity. The specification when 0 is specified for the starting velocity is the same as other profiles.

The constant deceleration profile is incompatible with jog or velocity commands.

This profile uses the following profile parameters:

Parameter	Description
Starting Velocity	Initial velocity
End Velocity	Final velocity

The following plots show the position, velocity, and acceleration of a constant deceleration profile.