Mitsubishi Electric MELSEC iQ-R Series User Manual page 305

When the jerk applying ratio is big or the jerk is small, the acceleration time (deceleration time) becomes longer than that of
the trapezoidal acceleration/deceleration. When the jerk applying ratio is 100%, the acceleration time (deceleration time)
becomes doubled compared with the trapezoidal acceleration/deceleration. When setting the jerk, pay attention to the
acceleration time (deceleration time).
Since the speed calculation is based on a given jerk, when the acceleration (deceleration) at FB execution
and the target velocity are different from the acceleration (deceleration) used at calculating the jerk, the final
acceleration time/deceleration time of control are calculated according to the calculation formula of the
acceleration/deceleration time parameter.
If the jerk applying ratio exceeds 100% due to the acceleration (deceleration) or the target velocity at FB
execution, the target speed may be reached before the target acceleration is reached.
For details, refer to the following.
Page 306 Acceleration/deceleration waveform adjustment when specifying jerk
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
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