IAI RoboNet Operation Manual page 124

(4) Operation at Different Acceleration and Deceleration
[1] When the controller is used in the positioner 1, 2 mode or simple direct mode, separate values can be set for
acceleration and deceleration using the position table.
[2] Direct numerical specification mode
In this mode, separate values cannot be set for acceleration and deceleration. The acceleration and deceleration are
always the same.
The acceleration/deceleration data (16-bit data) becomes effective when the data is received by the axis controller
(at the "0" (OFF) → "1" (ON) leading edge of the CSTR signal). To cause the actuator to decelerate at a different
value than the acceleration, change the acceleration/deceleration data while the actuator is moving.
(Example)
Position data setting
Acceleration/
deceleration setting
Position complete
(PEND)
Start command
(CSTR)
Moving
(MOVE)
Actuator movement
Make sure "T1 ≥ 0 ms" is satisfied by considering the scan time of the host controller.
*
104
Acceleration
Speed
Acceleration
Part 1 Specification
Deceleration
Target position
Deceleration