When a RSIAction*MODIFY* (RSIActionE_STOP_MODIFY_ABORT, RSIAction_E_STOP_MODIFY, RSIActionTRIGGERED_MODIFY) the motion controller will slow the axis to a stop with a specified deceleration rate and percent jerk. You can change the EStopDeceleration, TriggeredModifyDeceleration, EstopJerkPercent, and TriggeredModifyJerkPercent through RapidCode.