Mitsubishi Electric MELSEC iQ-R Series User Manual page 316

■Acceleration/deceleration specification method
After reaching the acceleration 0 due to velocity change during acceleration, the target deceleration may not be reached when
decelerating to the target velocity.
Target velocity before change
Target velocity (V')
Target acceleration (A)
Target deceleration (Dec)
■When a target velocity change is performed during automatic deceleration
The velocity change is accepted, however operation in execution is not changed. The target velocity after change is used
when re-acceleration is performed by target position change.
Acceleration change and acceleration/deceleration time change
When "0: mcAccDec" is selected in the "acceleration/deceleration method setting" (Options bit 0 to 2) of the FB, acceleration
change is performed.
When selecting "1: mcFixedTime", acceleration/deceleration time change is performed. The operation when acceleration/
deceleration time change is performed is the same as acceleration change to the acceleration calculated from the
acceleration/deceleration time.
Term
Current acceleration
Target acceleration
before change
Target acceleration
■When the target velocity is not reached
When the target acceleration increases by acceleration change and the target velocity is exceeded at the specified
acceleration, the target acceleration will not be reached because the target velocity is given priority. For details, refer to the
following.
Page 306 Acceleration/deceleration waveform adjustment when specifying jerk
Also, when velocity change and acceleration change are simultaneously performed, the target acceleration may not be
reached because the target velocity is given priority.
9 RELEVANT FUNCTIONS TO VELOCITY
314
9.1 Acceleration/deceleration Processing Function
Velocity
Acceleration
Velocity change
instruction is issued
Abbreviation Description
Anow The acceleration when changing the acceleration
A Target acceleration before acceleration is changed
A' Target acceleration after acceleration was changed
Accelerates to the target velocity
after exceeding the target velocity.
Time
Accelerates to zero acceleration.
Time
The velocity may not be reached to the target deceleration.