Advanced S-Curve Acceleration/Deceleration - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Advanced S-curve acceleration/deceleration

Processing for smooth acceleration/deceleration can be executed by using the advanced S-curve acceleration/deceleration
function. The acceleration section is set as a sine curve as shown in the diagram below.
Each section of acceleration/deceleration is set as a ration using the advanced S-curve acceleration/deceleration setting.
Speed
Speed limit value
Acceleration section 2
ratio (A2R)
Acceleration section 1
ratio (A1R)
Section
A
Acceleration
Trapezoidal acceleration
/deceleration
Advanced S-curve
acceleration/
deceleration
Acceleration time
Advanced S-curve
acceleration time
Processing for advanced S-curve acceleration/deceleration is shown below.
Section Processing
A Acceleration section 1 At the start of acceleration, acceleration continuously changes in
a sinusoidal manner until reaching the maximum acceleration for
trapezoidal acceleration/deceleration.
Set this section in acceleration section 1 ratio (A1R).
B Maximum acceleration The maximum acceleration for trapezoidal acceleration/
section deceleration
C Acceleration section 2 At the end of acceleration, acceleration continuously changes in
a sinusoidal manner until reaching zero acceleration.
Set this section in acceleration section 2 ratio (A2R).
D Constant-speed section The specified control positioning speed
E Deceleration section 1 At the start of acceleration, deceleration continuously changes in
a sinusoidal manner until reaching the maximum negative
acceleration for trapezoidal acceleration/deceleration.
Set this section in deceleration section 1 ratio (D1R).
F Maximum negative The same maximum negative acceleration for trapezoidal
acceleration section acceleration/deceleration
G Deceleration section 2 At the end of deceleration, deceleration continuously changes in
a sinusoidal manner until reaching zero acceleration.
Set this section in deceleration section 2 ratio (D2R).
Advanced
S-curve
acceleration/
deceleration
Section Section Section
B C D
Sine curve
(Trapezoidal
acceleration
/deceleration)
Trapezoidal acceleration
/deceleration
Deceleration section 1
ratio (D1R)
Deceleration section 2
ratio (D2R)
Section Section Section
E F G
Sine
curve
Deceleration time
(Trapezoidal
acceleration
/deceleration)
Advanced S-curve
deceleration time
Operation
Acceleration



3 PARAMETERS FOR POSITIONING CONTROL
Time
Time
Deceleration Rapid stop
 
 
 
3.13 Parameter Block
3
221