IAI RoboNet Operation Manual page 51

Simple direct mode
Specify position data
(32-bit signed integer).
Set in the position table.
Set acceleration and deceleration in the position table
separately.
Set acceleration and deceleration in the position table
separately.
Set in the position table.
Combine two or more position numbers.
Set using the position table and user parameters.
Outputs: PZONE, ZONE1, ZONE2
With the RPCON, set parameter No. 53 to "4" to implement full servo control.
Required
X
Part 1 Specification
: Direct control
Numerical specification mode
Specify position data
(32-bit signed integer).
Specify speed data (16-bit integer).
Specify acceleration/deceleration data (16-bit integer).
Since the acceleration/deceleration data is accepted
when the positioning is started, change the
acceleration/deceleration data while the actuator is
moving and restart the operation in order to decelerate
the actuator at a value different from the acceleration.
Specify the push-current limiting value (8-bit integer) and
also specify the push direction (DIR) and push mode
(PUSH).
Since the speed data is accepted when the positioning is
started, change the speed data while the actuator is
moving and restart the operation.
Set using user parameters.
Outputs: ZONE1, ZONE2
Not required
: Indirect control X: Not available
X
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