Mitsubishi Electric MELSEC iQ-R Series User Manual page 315

■For the acceleration/deceleration specification method
Speed
Target speed (V)
Acceleration
Target acceleration (A)
Target deceleration (Dec)
Target position change
instruction is issued
Velocity change
The specific acceleration/deceleration operation of jerk acceleration/deceleration is shown below. For the basic control
description, refer to the following.
Page 354 Set velocity change
Term Abbreviation
Current velocity Vnow
Target velocity V
Target velocity after V'
change
In jerk acceleration/deceleration, in order to smooth acceleration at velocity change, velocity change is carried out taking over
the current acceleration before change.
■When not reaching the target acceleration
If the target velocity decreases due to velocity change, the target acceleration may not be reached. Adjust the target
acceleration not to exceed the target velocity. For details, refer to the following.
Page 306 Acceleration/deceleration waveform adjustment when specifying jerk
■When exceeding the target acceleration
If speed is changed to a value smaller than the target velocity before change during acceleration, the target velocity may be
exceeded. The axis accelerates to acceleration 0 after the velocity change instruction is issued but overrides the target
velocity. After reaching the acceleration 0, it accelerates to the target velocity.
The speed continues to increase until reaching zero acceleration.
Current position
(Pnow)
Accelerates to zero acceleration.
Decelerates to zero speed.
Target acceleration (A)
Description
The velocity when changing the velocity
The target velocity before the velocity is changed
The target velocity after the velocity was changed
Target position before change (P)
Time
Target position (P')
Target speed after switching operation direction
Target deceleration (Dec)
Time
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
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