IAI America REXT - Manual (Page 136)


Part 1 Specification
Chapter 3 Gateway R unit
112
Part 1 Specification
(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) o “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)
* Make sure “T1 t 0 ms” is satisfied by considering the scan time of the host controller.
Position data setting
Acceleration/
deceleration setting
Position complete
(PEND)
Moving
(MOVE)
Actuator movement
Start command
(CSTR)
Speed
Acceleration Deceleration
Target position
Acceleration Deceleration
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