Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 253)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
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5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
( 1 ) Operation
The SLAU instruction outputs the speed that results from applying a variable acceleration or deceleration rate to the
input speed. Operation for the acceleration or deceleration rate is performed in an S curve according to predefined
parameters in a parameter table.
The input value to the SLAU instruction can be an integer or a real number.
The structure of the parameter table depends on the data type.
ΠDouble-length integers can be used only for CPU software version 2.30 or higher. For earlier versions, the lower 16
bits of the double-length integer are used in the calculations as an integer.
100% level of input
Acceleration/deceleration rate set in parameters
Input speed
Input speed
SLAU instruction
input speed waveform
Time (t)
SLAU instruction
output speed waveform
Time (t)
Acceleration time +
Acceleration S-curve time
(AT + AAT)
Deceleration time +
Deceleration S-curve time
(BT + BBT)