Mitsubishi Electric MELSEC iQ-R Series User Manual page 304

• Jerk calculation
When the speed and the acceleration of operation are fixed, the jerk can be calculated with the following formula by specifying
the jerk applying ratio.
(2 - Jerk applying ratio) × (the square of acceleration (A))
Jerk (J)
=
The acceleration section jerk applying ratio is the ratio of the jerk applying time to the acceleration time. The jerk applying time
is the sum of the acceleration section 1 time and the acceleration section 2 time.
Speed
Target speed (V)
Ex.
A calculation example of jerk is shown below.
The jerk when the speed is 7500 mm/s, the acceleration is 10000 mm/s
calculated with the following formula.
(2 - 0.5) × 10000
Jerk (J) =
0.5 × 7500
The acceleration time can be calculated when the speed, the acceleration, and the jerk are fixed. For details, refer to the
following.
Page 300 Jerk acceleration/deceleration
Acceleration time (AT)
=
Speed
7500 [mm/s]
Acceleration
10000 [mm/s 2 ]
25%
Jerk
40000 [mm/s 3 ]
9 RELEVANT FUNCTIONS TO VELOCITY
302
9.1 Acceleration/deceleration Processing Function
Jerk applying ratio × Speed (V)
Jerk applying ratio: 50%
25% 50% 25%
2
= 40000 [mm/s 3 ]
Speed (V) Acceleration time (AT)
+
Acceleration time (AT)
Time
Jerk applying ratio: 50%
Time
50% 25%
0.5 s
1 s
Time
*: Deceleration forms reversal pattern
Time
of acceleration pattern.
Jerk applying time (A1T + A2T)
Acceleration time (AT)
2
, and the jerk applying ratio is 0.5 (50%) can be
7500
= +
10000
Jerk (J)
10000
= 1 [s]
40000