Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 270

Advanced S-curve acceleration/deceleration processing
Processing for smooth acceleration/deceleration can be executed by using the Advanced S-curve acceleration/deceleration
function. The acceleration section is set as a sine curve as shown in the diagram below.
Set the advanced S-curve acceleration/deceleration by the parameter block (Page 221 Advanced S-curve acceleration/
deceleration) or servo program.
Speed
Speed limit value
Acceleration section 2
ratio (ASC Accel.2)
Acceleration section 1
ratio (ASC Accel.1)
Acceleration
Trapezoidal acceleration/
deceleration
Advanced S-curve
acceleration/
deceleration
Advanced S-curve acceleration/deceleration can be set by the servo program is following two methods.
■Specification by numerical value
Advanced S-curve acceleration/deceleration system and advanced S-curve acceleration/deceleration ratio are set a
numerical value.
Setting items
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
*1 ASC Accel.1 + ASC Accel.2  100.0%, ASC Decel.1 + ASC Decel.2  100.0%
<K 10>
INC-2
Axis 1, 100000
Axis 2, 250000
Vector speed
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
5 POSITIONING CONTROL
268
5.1 Basics of Positioning Control
Advanced
S-curve
acceleration/
deceleration
Sine
curve
Acceleration time
(Trapezoidal
acceleration/
deceleration)
Advanced S-curve
acceleration time
2 axes linear interpolation control
Axis used ...................... Axis1, Axis 2
Travel value to stop
1000
position
1
20.0
Positioning speed ............. 1000
50.0
20.0
50.0
Advanced S-curve
acceleration/deceleration
Trapezoidal acceleration/
deceleration
Sine
curve
Deceleration time
(Trapezoidal
acceleration/
deceleration)
Advanced S-curve
deceleration time
Setting range
0: Trapezoidal/S-curve acceleration/deceleration
1: Advanced S-curve acceleration/deceleration
*1
0.0 to 100.0[%]
Axis ...... 100000
Axis ...... 250000
ASC System ........... 1
ASC Accel.1 ........... 20.0
ASC Accel.2 ........... 50.0
ASC Decel.1 ........... 20.0
ASC Decel.2 ........... 50.0
Deceleration section 1
ratio (ASC Decel.1)
Deceleration section 2
ratio (ASC Decel.2)
Time
Time