Changing Control Of Jerk Acceleration/Deceleration - Mitsubishi Electric MELSEC iQ-R Series User Manual

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.
Target velocity
before change (V)
Target velocity (V')
Acceleration
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
Term
Current position
Target position before
change
Target position
■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
312
9.1 Acceleration/deceleration Processing Function
Velocity
Velocity change instruction is issued
Abbreviation Description
Pnow The position when a target position change instruction is issued
P The target position before the target position is changed
P' The target position after the target position was changed
Before velocity change
Time
Time