Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 227

Parameter calculations
The maximum acceleration and advanced S-curve acceleration time/deceleration time are calculated by parameters.
Speed
Trapezoidal acceleration/deceleration
S.R.
A2R
A1R
Maximum
acceleration
Acceleration
section
AmaxA
AT
AAT
A1T
Item Abbre-
viation
Maximum acceleration AmaxA
Maximum negative DmaxA
acceleration
Maximum negative EmaxA
acceleration at rapid stop
Advanced S-curve AAT
*1
acceleration time
Advanced S-curve ADT
*1
deceleration time
Advanced S-curve rapid stop AET
*1
deceleration time
Time of acceleration section 1 A1T
Time of acceleration section 2 A2T
Time of deceleration section 1 D1T
Time of deceleration section 2 D2T
Velocity when "AAT = A1T + Vacc
A2T"
Velocity when "ADT = D1T + Vdac
D2T"
*1 The actual acceleration time, actual deceleration time and actual rapid stop deceleration time are shortened when the positioning speed
is less than the speed limit value.
S.R.
D1R
D2R
Time
Acceleration
Trapezoidal acceleration
/deceleration
Time DmaxA
A2T
Description
• Maximum acceleration
• Same acceleration as trapezoidal
acceleration/deceleration
• Maximum negative acceleration at (rapid
stop) deceleration
• Same negative acceleration as trapezoidal
acceleration/deceleration
• Time to reach the speed limit value (S.R.)
after positioning start. (At advanced S-curve
acceleration/deceleration)
• It can be lengthened more than trapezoidal
acceleration/deceleration by using A1R or
A2R.
• Time to stop from the speed limit value (S.R.)
at (rapid stop) deceleration. (Advanced S-
curve acceleration/deceleration)
• It can be lengthened more than trapezoidal
acceleration/deceleration by using D1R or
D2R.
Time to reach acceleration peak from zero
acceleration.
Time to reach zero acceleration from
acceleration peak.
Time to reach negative acceleration peak from
zero acceleration.
Time to reach zero acceleration from negative
acceleration peak.
The velocity when total acceleration is only "A1T
+ A2T". (No maximum acceleration section)
The velocity when total acceleration is only
"D1T + D2T". (No maximum deceleration
section)
Speed
Trapezoidal acceleration/deceleration
Maximum
negative
acceleration
section
DT
ADT
D1T D2T
Calculation expression
S.R.  AT
S.R.  DT
S.R.  ET
AT  (100.0 + A1R + A2R) 
100.0
DT  (100.0 + D1R + D2R) 
100.0
ET  (100.0 + D1R + D2R) 
100.0
AT  (A1R  100.0)  2
AT  (A2R  100.0)  2
DT  (D1R  100.0)  2
DT  (D2R  100.0)  2
S.R.  (A1R + A2R)  100.0
S.R.  (D1R + D2R)  100.0
3 PARAMETERS FOR POSITIONING CONTROL
Time
Time
Trapezoidal acceleration
/deceleration
Operation
Accele Decele Rapid
-ration -ration stop
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3.13 Parameter Block
3