Acceleration/Deceleration Time Change Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

7.6

Acceleration/Deceleration Time Change Function

This function arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with Motion
dedicated functions (CHGV, CHGVS) of Motion SFC program (and also the Motion dedicated PLC instruction M(P).CHGV/
D(P).CHGV, M(P).CHGVS/D(P).CHGVS).
Normally (speed change without changing the acceleration/deceleration time), the acceleration/deceleration time is controlled
by the positioning data of the servo program or the parameter block at the start. However, if a speed change is executed after
setting the acceleration/deceleration time change parameter, speed changes at the set acceleration/deceleration time.
"Acceleration/deceleration time after change" is the acceleration/deceleration time of positioning control being
executed. "Acceleration/deceleration time after change" is valid until the switching of the next positioning
point. (Automatic decelerating processing at positioning completion is also controlled by "Acceleration/
deceleration time after change".)
Speed change instructions for acceleration/deceleration time change
The speed change instructions for acceleration/deceleration time change are shown below.
Classification
Motion SFC program
(Motion dedicated function)
Motion dedicated PLC instruction
Control details
After setting the acceleration/deceleration time change parameter, if speed change command is executed, the acceleration/
deceleration time changes. The acceleration/deceleration time change parameter is set for every axis in [Motion Control
Parameter]  [Axis Setting Parameter]  "Expansion Parameter" of MT Developer2. Refer to the Expansion Parameter for
details of acceleration/deceleration time change parameter. (Page 192 Expansion Parameters)
Refer to the following for details of command generation axis parameter.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
• Set the change value of acceleration/deceleration time in the device set by acceleration time change value device/
deceleration time change value device.
Name
New acceleration time value device
New deceleration time value device
• Device set by the acceleration/deceleration time change enable device turns ON (valid).
Instruction Description
CHGV Speed change request
CHGVS Command generation axis speed change request
M(P).CHGV/D(P).CHGV Speed change request of the specified axis
M(P).CHGVS/D(P).CHGVS Speed change request of the specified command generation axis
Setting range
1 to 8388608 [ms]
Other than above: Time change invalid
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Acceleration/Deceleration Time Change Function
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