Mitsubishi Electric MELSEC iQ-R Series User Manual page 317

■Acceleration change
The acceleration change pattern can be classified based on the operation status when acceleration change is performed.
[When executing acceleration change in the acceleration section 1.]
Acceleration is increased or decreased to the target acceleration after change by using jerk, and taking over the speed and
the acceleration immediately before the acceleration change.
Speed
Target speed (V)
Acceleration
Target acceleration (A')
Target acceleration
before change (A)
Acceleration time (AT)
Acceleration change
[When executing acceleration change in the maximum acceleration section]
Acceleration is increased or decreased to the target acceleration after change by using jerk, and taking over the speed and
the acceleration immediately before the acceleration change.
Speed
Target speed (V)
Acceleration
Target acceleration (A')
Target acceleration
before change (A)
Acceleration change
Time
Time
Time
Time
Acceleration time (AT)
Speed
Target speed (V)
Acceleration
Target acceleration
before change (A')
Target acceleration (A')
Acceleration change
Speed
Target speed (V)
Acceleration
Target acceleration
before change (A)
Target acceleration (A')
Acceleration change
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
Time
Time
Acceleration time (AT)
Time
Time
Acceleration time (AT)
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