Mitsubishi Electric MELSEC iQ-R Series User Manual page 303

• Acceleration/deceleration time parameter calculation
Speed
Target speed (V)
Acceleration
Target acceleration (A)
Jerk
Jerk (J)
Time of acceleration
section 1 (A1T)
Maximum acceleration
time (A3T)
: Operation possible, : Operation impossible
Section Item
Specified value Target velocity
Target acceleration
Target deceleration
Jerk
Calculated Acceleration section 1 time
value
Acceleration section 2 time
Maximum acceleration
section time
Acceleration time
Deceleration section 1 time
Deceleration section 2 time
Maximum deceleration
section time
Deceleration time
*1 Acceleration time and deceleration time may be limited. For details, refer to the following.
Page 310 Limit of acceleration time/deceleration time
*2 This is the calculation formula when unit of V is [/s]. When other than [U/s], calculate by converting into [U/s].
*3 Target acceleration/target deceleration may be adjusted by acceleration/deceleration waveform adjustment. For details, refer to the
following.
Page 306 Acceleration/deceleration waveform adjustment when specifying jerk
Time
Time
Acceleration time (AT)
Time
Time of acceleration
section 2 (A2T)
Abbr Description
eviat
ion

V
*3
A 
*3

Dec

J
A1T Time obtained by dividing the jerk applying
time of the acceleration section by 2
A2T Time obtained by dividing the jerk applying
time of the acceleration section by 2
A3T Time of the maximum acceleration section.
*1
AT Time from speed 0.0 to the target velocity
D1T Time obtained by dividing the jerk applying
time of the deceleration section by 2
D2T Time obtained by dividing the jerk applying
time of the deceleration section by 2
D3T Time of the maximum deceleration section.
*1
DT Time to decelerate from the target velocity
to speed 0.0
Speed
Target speed (V)
Acceleration
Target deceleration (Dec)
Jerk
Jerk (J)
Time of deceleration
section 1 (D1T)
Maximum deceleration
time (D3T)
Calculation formula




A  J
A  J
(V  A) - (A  J)
A1T + A2T + A3T = (V 
A) + (A  J)
Dec  J
Dec  J
(V  Dec) - (Dec  J)
D1T + D2T + D3T = (V 
Dec) + (Dec  J)
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
Pattern at J = 0.0
Time
Time
Deceleration time (DT)
Time
Time of deceleration
section 2 (D2T)
Operation
Accelera Decelera
tion tion
 
 
 
 
 
 
*2
 
 
*2
 
 
*2
 
 
*2
9
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