Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 42)

4-14 2-Axis Servo Module M/N 57C422B
4.19 Registers 23, 24: Command
Deceleration
Registers 23, 24 contains the command deceleration. This
value is read by the module whenever the following
commands are issued: "index/move", "home axis", "tune
dynamics", or "tune feedforward" in R66; or "velocity control"
in R65. The command deceleration is calculated using the
same formula used for calculating "command acceleration"
in R21, 22. In addition, the same maximum value applies to
both command acceleration and deceleration. See section
4.18 for more information.
Note that the ratio between the deceleration rate and the
acceleration rate must be between .2 to 1 and 5 to 1. The
"stop motion" command in register 66 will use the value in
23, 24, depending on the state of the "stop action" bit in
register 65. See sections 4.34 and 4.35 for more information.
Figure 4.17 – Command Acceleration Registers
Figure 4.18 – Command Deceleration Registers