Acceleration Limit Value/Deceleration Limit Value; Jerk Limit Value - Mitsubishi Electric MELSEC iQ-R Series User Manual

Acceleration limit value/deceleration limit value

9
When "0: mcAccDec" is selected in the "acceleration/deceleration method setting" (Options bit 0 to 2) of the FB, the
acceleration and the deceleration are limited by the acceleration limit value and the deceleration limit value.
When "1: mcFixedTime" is selected in Options of the FB, these are not limited. When "0.0" is specified for the acceleration
limit value and the deceleration limit value, these are not limited as well.
The acceleration and the deceleration are limited at start, acceleration change, and deceleration change.
Applicable range of the acceleration limit value/deceleration limit value for single axis control and multiple axes control is set
same as the velocity limit. For details, refer to the following.
Page 318 Speed Limit
Operation
■At start
If the speed exceeds the acceleration limit value or the deceleration limit value, the error "Acceleration Limit Value Over" (error
code: 1A38H) or the "Deceleration Limit Value Over" (error code: 1A39H) will occur, and the axis will not start.
■At acceleration change/At deceleration change
If the speed exceeds the acceleration limit value or the deceleration limit value by changing the acceleration or the
deceleration, the warning "Acceleration Limit Value Over Warning" (warning code: 0D06H) or the warning "Deceleration Limit
Value Over Warning" (warning code: 0D07H) will occur, and the change will not be accepted. The acceleration/deceleration
operation before change will be continued.
■At multiple start
If the acceleration or the deceleration of the multiple started FB has exceeded the acceleration limit value or the deceleration
limit value, the error "Acceleration Limit Value Over" (error code: 1A38H) or the error "Deceleration Limit Value Over" (error
code: 1A39H) will occur, and the instruction in execution will be interrupted and stopped. For details, refer to the following.
Page 126 Precautions

Jerk limit value

Jerk is limited by a value specified in JerkLimit. When "0.0" is specified for the jerk limit value, the jerk is not limited.
Applicable range and operation of the jerk limit value for single axis control and multiple axes control are set same as the
velocity limit. For details, refer to the following.
Page 318 Speed Limit
Operation
■At start
If the specified jerk at start exceed the jerk limit value, the error "Jerk Limit Value Over" (error code: 1A3AH) will occur, and the
axis will not start.
■At multiple start
If the specified jerk in the multiple started FB has exceeded the jerk limit value, the error "Jerk Limit Value Over" (error code:
1A3AH) will occur, and the instruction in execution will be interrupted and the axis will stop. For details, refer to the following.
Page 126 Precautions
9 RELEVANT FUNCTIONS TO VELOCITY
309
9.1 Acceleration/deceleration Processing Function