IAI RoboNet Operation Manual page 122

(3) Speed Change during Movement
The actuator can be controlled at multiple speeds in a single operation. In other words, the speed can be decreased or
increased at a given point.
However, a position data must be set for every point at which the speed is changed.
This function can be used in situations where the load is made of soft material or is a bottle or has other easy-to-topple
shape and you don't want the load to receive vibration or impact upon stopping.
(Example) Positioning to position 2 (300 mm from the home), where the actuator is moved at a speed of 200 mm/sec to
intermediate position 1 (200 mm from the home) and at a speed of 20 mm/sec thereafter.
Example of Position Table
Position
Position command
Position start
(CSTR)
Position complete
(PEND)
Completed position
Moving (MOVE)
Actuator movement
* Set an appropriate time so that "T1 ≥ 0 ms" is satisfied, by considering the scan time of the host controller.
102
Position 1 Position 2
Speed
Acceleration Deceleration
Position 1
*
Speed
Position 1 Position 2
Push
Position 2
Position 1
Part 1 Specification
Position 1 Position 2
Positioning band
Comment
Position 2
Position 1 Position 2
Position 3