Changing control of jerk acceleration/deceleration
Acceleration/deceleration operation at changing control immediately changes the acceleration and the deceleration for the
trapezoidal acceleration/deceleration (J = 0.0).
For the jerk acceleration/deceleration (J 0.0), when a control change is carried out during acceleration or deceleration,
acceleration/deceleration will be performed taking over the previous acceleration (deceleration). Therefore, if a control change
that causes the deceleration operation is executed during acceleration, the operation will continue to accelerate until the
acceleration becomes 0 without decelerating immediately.
before change (V)
Target velocity (V')
Target acceleration (A)
Target deceleration (Dec)
The following shows the specific operation of the jerk acceleration/deceleration during control change.
Target position change
The specific acceleration/deceleration operation of jerk acceleration/deceleration is shown below. For the basic control
description, refer to the following.
Page 351 Target position/movement distance change
Target position before
■When the operation direction is reversed
When the target position after change is specified in the front of the current position, the operation direction is reversed. The
axis accelerates to the acceleration of 0, then decelerates to the speed 0. When the speed reaches 0, the operation direction
is reversed and acceleration/deceleration is performed to the target position.
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
Velocity change instruction is issued
The position when a target position change instruction is issued
The target position before the target position is changed
The target position after the target position was changed
Before velocity change