Multiple Start Of The Jerk Acceleration/Deceleration - Mitsubishi Electric MELSEC iQ-R Series User Manual

Multiple start of the jerk acceleration/deceleration

This section describes the acceleration/deceleration operation specific to the jerk acceleration/deceleration. For the basic
operation of the buffer mode, refer to the following.
Page 107 Multiple Start (Buffer Mode)
Term Description
Switching point The point where FBs are switched
On-going FB FB that is in execution on the axis and the axes group (FB whose Active is TRUE)
Next FB FB that multiple starts during operation of the axis and the axes group
Acceleration/deceleration operation
■When the acceleration/deceleration methods are different between the on-going FB and the
next FB
The error "Acceleration/Deceleration Method Mismatched" (error code: 1A0EH) occurs and the axis stops. Specify the same
acceleration/deceleration method in the FBs.
■When the acceleration/deceleration methods are the same between the on-going FB and the
next FB
• When the on-going FB is jerk acceleration/deceleration and when the next FB is jerk acceleration/deceleration
The axis accelerates/decelerates taking over the speed and the acceleration (deceleration) at the switching point.
Speed
Target speed of FB2
Acceleration
Target acceleration of FB2
Switching acceleration
Target deceleration of FB2
• When the on-going FB is trapezoidal acceleration/deceleration and when the next FB is jerk acceleration/deceleration
The axis accelerates/decelerates not taking over the speed and the acceleration (deceleration) at the switching point. The jerk
acceleration/deceleration is executed by the acceleration (deceleration) 0.
After reaching the switching point during acceleration (deceleration), the speed waveform in execution is continued when all
of the target velocity, the acceleration, the deceleration, and the jerk are the same between the on-going FB and the next FB.
If there is a different setting for any one, velocity change is made for the target speed of the next FB.
FB1 FB2
Takes the speed at the switching point.
Takes the speed at the switching point.
Aborting
FB1, FB2 = 0: mcAccDec
Time
Time
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
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