Mitsubishi Electric MELSEC iQ-R Series User Manual page 309

When the condition is not satisfied
When accelerating to the target acceleration, the velocity exceeds the target velocity during acceleration. Therefore, the
acceleration is adjusted to reach the target velocity at the end of acceleration. (The velocity does not reach the specified
target acceleration (deceleration).)
When the acceleration is adjusted, there is no maximum acceleration section, and the acceleration waveform becomes a
triangle. Also, the same adjustment is applied to the deceleration.
Term Abbrevia
tion
Target acceleration before A
adjustment
Target acceleration A'
Target deceleration before Dec
adjustment
Target deceleration Dec'
Speed
Target speed (V)
Acceleration
Target acceleration
before adjusting (A)
Target acceleration (A')
The target acceleration (A') and the target deceleration (Dec') can be calculated with the following formula.
A' = √V × J Dec' = √V × J
,
The target acceleration (A') and the target deceleration (Dec') after adjustment become smaller than the target acceleration
(A) and the target deceleration (Dec) before adjustment.
The acceleration time and the deceleration time can be calculated with the following formula.
Acceleration time (AT) = (V  A') + (A'  J)
Deceleration time (DT) = (V  Dec') + (Dec'  J)
Description
Target acceleration before acceleration adjustment
Target acceleration after acceleration adjustment
Target deceleration before deceleration adjustment
Target deceleration after deceleration adjustment
Adjusting is not carried out in the maximum acceleration section.
*: Deceleration pattern forms
Acceleration time (AT)
Time
reversal of acceleration pattern.
Time
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
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