Mitsubishi Electric MELSEC-Q Series User Manual page 696

[2] "Acceleration/deceleration method setting" control details and
setting
In the "acceleration/deceleration method setting", the acceleration/deceleration
processing method is selected and set. The set acceleration/deceleration
processing is applied to all acceleration/deceleration. (except for inching
operation, manual pulse generator operation and speed-torque control.)
The two types of "acceleration/deceleration processing method" are shown below.
(1) Trapezoidal acceleration/deceleration processing method
This is a method in which linear acceleration/deceleration is carried out
based on the acceleration time, deceleration time, and speed limit value set
by the user.
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Fig. 13.45 Trapezoidal acceleration/deceleration processing method
(2) S-curve acceleration/deceleration processing method
In this method, the motor burden is reduced during starting and stopping.
This is a method in which acceleration/deceleration is carried out gradually,
based on the acceleration time, deceleration time, speed limit value, and
"[Pr.35] S-curve ratio" (1 to 100%) set by the user.
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Fig. 13.46 S-curve acceleration/deceleration processing method
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Chapter 13 Control Sub Functions