Yaskawa MP900 Series Ladder Programming Manual User Manual
Page 255
5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-186
If QS (quick stop) is opened, QT (quick stop time) is used as the acceleration/deceleration time.
[ b ] Parameter Table Configuration for SLAU Instruction with Double-length Integers
∗ 1. D is a double-length real number expressed in four words. The MPE720 cannot display this value as a real number.
∗ 2. The relay input and output bits are assigned as given below. (Close = Bit change to 1 (ON), Open = Bit change to 0
(OFF))
If QS (quick stop) is opened, QT (quick stop time) is used as the acceleration/deceleration time.
Bit
Symbol
Name
Specification
I/O
0
RN
Line running
This input is closed to run the line.
IN
1
QS
Quick stop
This input is opened to execute a quick stop.
IN
2
DVDTF
Skip execution of DVDT1
operation
This input is closed to skip execution of the DVDT operation.
IN
3
DVDTS
DVDT1 operation selection Selects the method for calculating DVDT
IN
4 to 7
–
(Reserved.)
Spare input relays
IN
8
ARY
Accelerating
This output is closed during acceleration.
OUT
9
BRY
Decelerating
This output is closed during deceleration.
OUT
A
LSP
Zero speed
This output is closed during zero speed.
OUT
B
EQU
Equal
This output is closed when the input speed equals the output speed.
OUT
C
–
(Reserved.)
Spare output relay
OUT
D
CCF
Work relay
System internal work relay
OUT
E
BBF
Work relay
System internal work relay
OUT
F
AAF
Work relay
System internal work relay
OUT
Address
Data
Type
Symbol
Name
Specification
I/O
0
W
RLY
Relay I/O
Relay inputs and relay outputs
*1
IN/OUT
1
W
–
(Reserved.)
–
–
2
L
LV
100% level of input
Scale for 100% of input value
IN
4
L
AT
Acceleration time
Time to accelerate from 0% to 100% (0.1 s)
IN
6
L
BT
Deceleration time
Time to decelerate from 100% to 0% (0.1 s)
IN
8
L
QT
Quick stop time
Time to make a quick stop from 100% to 0% (0.1 s)
IN
10
L
AAT
Acceleration S-curve time Acceleration S-curve region time (0.01 s)
IN
12
L
BBT
Deceleration S-curve time Deceleration S-curve region time (0.01 s)
IN
14
L
V
Current speed
SLAU output (also the output to the A register)
OUT
16
L
DVDT
Current acceleration/
deceleration rate
The current acceleration or deceleration rate is output.
(The output is truncated below the decimal point.)
*2
OUT
18
L
ABMD
Speed increase when
holding
Amount of speed change until the speed stabilizes after the
hold command is executed
OUT
20
D
V_D
Current speed
SLAU output for system use (double-precision real number) IN/OUT
24
D
DVDT_D Current acceleration/
deceleration rate
Current acceleration or deceleration rate for system use
(double-precision real number)
IN/OUT
Bit
Symbol
Name
Specification
I/O
0
RN
Line running
This input is closed to run the line.
IN
1
QS
Quick stop
This input is opened to execute a quick stop.
IN
2
DVDTF
Acceleration/deceleration
rate flag
When the input is closed, DVDT (current acceleration/
deceleration rate) is multiplied by 1,000 and then output.
IN
3 to 7
–
(Reserved.)
Spare input relays
IN
8
ARY
Accelerating
This output is closed during acceleration.
OUT
9
BRY
Decelerating
This output is closed during deceleration.
OUT
A
LSP
Zero speed
This output is closed during zero speed.
OUT
B
EQU
Equal
This output is closed when the input value equals the out-
put value.
OUT
C to F
–
Work relays
System internal work relays
IN/OUT