Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 228

Acceleration/deceleration time and the parameter block acceleration/deceleration time
Advanced S-curve acceleration/deceleration time is calculated as a function of the acceleration/deceleration time set in the
parameter block by using the parameter setting of advanced S-curve acceleration/deceleration as shown below.
■Advanced S-curve acceleration time
Condition
Acceleration section 1 ratio (A1R) = Acceleration section 2 ratio (A2R) = 0.0
Acceleration section 1 ratio (A1R) or Acceleration section 2 ratio (A2R)  0.0
Acceleration section 1 ratio (A1R) + Acceleration section 2 ratio (A2R) = 100.0
■Advanced S-curve deceleration time
Condition
Deceleration section 1 ratio (D1R) = Deceleration section 2 ratio (D2R) = 0.0
Deceleration section 1 ratio (D1R) or Deceleration section 2 ratio (D2R)  0.0
Deceleration section 1 ratio (D1R) + Deceleration section 2 ratio (D2R) = 100.0
Deceleration process at rapid stop
Deceleration processing is executed by using the deceleration section 1 ratio (D1R) and deceleration section 2 ratio (D2R) at
rapid stop deceleration.
Settings for continuous trajectory control
When the FIN acceleration/deceleration (Fixed acceleration/deceleration time method) is set in the continuous trajectory
control, the setting for advanced S-curve acceleration/deceleration is invalid. However, advanced S-curve acceleration/
deceleration can be used regardless whether the "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is
ON or OFF.
At home position return operation
Advanced S-curve acceleration/deceleration control is enabled at home position return operation.
When executing a home position return using a proximity dog, the movement amount to decelerate to creep speed is different
compared to trapezoid acceleration/deceleration and s-curve acceleration/deceleration. This is to ensure smoothness of
acceleration/deceleration. For this reason, the stop position (zero point) upon completion of home position return is different to
when trapezoid acceleration/deceleration and s-curve acceleration/deceleration is used.
3 PARAMETERS FOR POSITIONING CONTROL
226
3.13 Parameter Block
Advanced S-curve acceleration time
Same as acceleration time of the parameter block (Trapezoidal
acceleration processing)
Longer acceleration time compared with the parameter block.
Double the acceleration time of the parameter block.
Advanced S-curve deceleration time
Same as deceleration time of the parameter block (Trapezoidal
acceleration processing)
Longer deceleration time compared with the parameter block.
Double the deceleration time of the parameter block.