A descent device for controlling descent on a rope having a housing, a cam, a lever, a linkage, a brake, and an eye. The housing is a pair of opposed plates separated by spacers, three of which operate as axles for the cam, lever, and brake. The cam has a rope track that extends around the perimeter of the cam at least 540° but not more than about 650°. A hump in the rope track forms a pinch point with a housing spacer. The lever rotates the cam via a linkage between a payout position where the rope can move freely through the device, a braking position where the rope is pinched at the pinch point and a cleat of the brake moves lightly to the rope, and a panic position where the rope is pinched by the brake cleat.