Hi,

We are using D435-2 DP/PN simotion D controller in our project to control six servo axis . Of this 3 are rotary and 3 are linear.

We need to control the decleration time incase when the axis touched the hardware limits. How to set these value in simotion . In the simotion AXIS page,i can see one field(TypeOfAxis.EmergencyRampGenerator.maxDeceleration) . Is this the right field to acheive the above functionality. I can see so many fields in the dynamic response page of limit, but cant able to figure out the right field. Or is there any other way to acheive this?

Also in case of emergency press, all axis has to come to halt with a predetermined deceleration. Where to set those values. We are using safety integrated function of sinamics for emergecny stop.

Have not tried it, but that looks like the right place.  I prefer to do my own stopping with the HALT command as it gives me more flexibility.

For your Emergency Stop, SS1 ramp is controlled by the OFF3 ramp time set in SINAMICS.