Mitsubishi Electric MELSEC iQ-R Series User Manual page 296

■Jerk acceleration/deceleration
When a value other than "0.0" is set in the jerk, the curve is called the jerk acceleration/deceleration. The speed shows a S-
shaped waveform.
Target speed (V)
Acceleration
Target acceleration (A)
Target deceleration (Dec)
Jerk
Jerk
Jerk is the temporal change ratio of the acceleration or deceleration. The unit is "command unit (U)/s
since the speed waveform shows a S-shape and the axis can smoothly accelerate and decelerate at the start and the end of
acceleration and deceleration, it can reduce the burden on the motor and impact on the machine.
Speed
Target speed (V)
• Jerk applying time/Jerk applying ratio
The sum of the time required to reach the target acceleration after startup and the time from the target acceleration to the
acceleration 0 at the end of acceleration is called the jerk applying time. The ratio of jerk applying time to acceleration
(deceleration) time is called the jerk applying ratio.
The jerk applying time and the jerk applying ratio can be calculated with the following formula.
Jerk applying time = 2  Target acceleration  Jerk
Jerk applying ratio = (Jerk applying time  Acceleration time)  100 [%]
Speed
Target speed (V)
9 RELEVANT FUNCTIONS TO VELOCITY
294
9.1 Acceleration/deceleration Processing Function
Speed
Time
Time
Time
Smoothly accelerate/decelerate when jerk is specified.
Time
Time
Jerk applying time
Acceleration time
3
". When the jerk is set,