Yaskawa Ladder Works Programming Manual User Manual
Page 150
7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU)
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7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction
(LAU)
[Outline]
The LAU instruction performs acceleration and deceleration at a fixed acceleration/ deceleration rate
upon input of a speed reference (Input). The operation is performed according to the contents of a
previously set parameter table.
The input to the LAU operation must be integer or real number data. Double-length data cannot be
used. The configurations of the parameter tables for integer and real number data are different.
Operations are performed by processing each parameter as an integer consisting of the lower-place 16
bits.
Table of Integer Type LAU Instruction Parameters
ADR
Type Symbol
Name
Specification
I/O
0
W
RLY
Relay I/O
Relay input, relay output *
1
IN/OUT
1 W LV
100％ input level
Scale of the 100％ input
IN
2 W AT
Acceleration
time
Time for acceleration from 0％ to100％ (0.1s)
IN
3 W BT
Deceleration
time
Time for deceleration from 0％ to100％ (0.1s)
IN
4
W
QT
Quick stop time
Time for quick stop from 100％ to 0％ (0.1s)
IN
5
W
V
Current speed
LAU output (also output to the A register)
OUT
6 W DVDT Current
acceleration
/ deceleration speed
Scaled with the normal acceleration rate being set
to 5000.
OUT
7 W
－
(Reserve) Reserve
register
－
8 W VIM Previous
speed
reference
For storage of the previous value of the speed
reference input
OUT
9
W
DVDTK
Remainder
Scaling coefficient of the current acceleration
/ deceleration speed (DVDT) (-32768 to 32767)
IN
10
L
REM
Remainder
Remainder of the acceleration / deceleration rate
OUT
*
1
: Relay I/O Bit Assignment
BIT
Symbol
Name
Specification
I/O
0
RN
Line is running
"ON" is input while the line is running.
IN
1
QS
Quick stop
"OFF" is input upon quick stop. *
1
IN
2 DVDTF
DVDT
Operation
not executed
"ON" is input at non-execution of DVDT operation.
IN
3 DVDTS
DVDT
Operation
selection
Selection DVDT operation type
IN
4 to 7
－
(Reserve)
Reserve relay for input
IN
8
ARY
In acceleration
"ON" is output during acceleration.
OUT
9
BRY
In deceleration
"ON" is output during deceleration.
OUT
A
LSP
Zero speed
"ON" is output at a speed of 0.
OUT
B
EQU
Coincidence
"ON" is output when input value = output value.
OUT
C to F
－
(Reserve)
Reserve relay for input
OUT
*
1
: When the quick stop (QS) is "OFF", the quick stop time is used for the acceleration / deceleration time.