Yaskawa Ladder Works Programming Manual - Manual (Page 153)

7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
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7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction
(SLAU)
[Outline]
The SLAU instruction performs acceleration and deceleration at a variable acceleration/deceleration
rate upon input of a speed reference (Input). The operation is performed according to the contents of
the previously set parameter table.
Positive and negative values can be entered for speed reference input. Always set a value so that the
linear acceleration or deceleration time (AT or BT) is greater than or equal to the S-curve acceleration
or deceleration time (AAT or BBT).
The input to the SLAU operation must be integer or real number data. Double-length integer data
cannot be used. The configurations of the parameter tables for integer and real number data are
different.
Table of Integer Type SLAU 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 AAT S-curve acceleration
time
Time spent in the S-curve region of acceleration
(0.01-32.00s) IN
6 W BBT S-curve deceleration
time
Time spent in the S-curve region of deceleration
(0.01-32.00s) IN
7 W V Current speed SLAU output (also output to the A register) IN
8 W DVDT1 Current acceleration
/deceleration speed1
(DVDT1)
Scaled with the normal acceleration rate being set
to 5000. OUT
9 W － (Reserve) Reserve register －
10 W ABMD Speed increase upon
holding Amount of change in speed after hold instruction
and until stabilization.
OUT
11 W REM1 Remainder Remainder of the acceleration and deceleration rate OUT
12 W － (Reserve) Reserve register －
13 W VIM Previous speed
reference
For storage of the previous value of the speed
reference. OUT
14 L DVDT2 Current acceleration
/deceleration speed2
(DVDT2)
1000 times of the current acceleration / deceleration
speed OUT
16 L DVDT3 Current acceleration
/deceleration speed3
(DVDT3)
Current acceleration / deceleration speed
(=DCDT2/1000) OUT
18 L REM2
Remainder
Remainder of the S-curve region acceleration and
deceleration rate OUT
20 W REM3 Remainder Remainder of the current speed OUT
21 W DVDTK DVDT1 coefficient Scaling coefficient of the current acceleration
/ deceleration speed (DVDT) (-32768 to 32767) IN
* 1 : Relay I/O Bit Assignment