Yaskawa MP900 Series Ladder Programming Manual User Manual
Page 256
5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-187
Instructions
5
[ c ] Parameter Table Configuration for SLAU Instruction with Real Numbers
∗ 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.
Refer to ( 4 ) Additional Information for details on the processing that is performed internally by the LAU instruction.
Address
Data
Type
Symbol
Name
Specification
I/O
0
W
RLY
Relay I/O
Relay inputs and relay outputs
*
IN/OUT
1
W
–
(Reserved.)
Spare register
–
2
F
LV
100% level of input
Scale for 100% input
IN
4
F
AT
Acceleration time
Time to accelerate from 0% to 100% (s)
IN
6
F
BT
Deceleration time
Time to decelerate from 100% to 0% (s)
IN
8
F
QT
Quick stop time
Time to make a quick stop from 100% to 0% (s)
IN
10
F
AAT
Acceleration S-curve time
Acceleration S-curve region time (s)
IN
12
F
BBT
Deceleration S-curve time
Deceleration S-curve region time (s)
IN
14
F
V
Current speed
SLAU output (output to Out)
OUT
16
F
DVDT1
Current acceleration/
deceleration rate 1
The actual acceleration or deceleration rate is output.
OUT
18
F
ABMD
Speed increase when hold-
ing
Amount of speed change until the speed stabilizes
after the hold command is executed
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 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 to F
–
(Reserved.)
Spare output relays
OUT
Speed at
100% input
Linear
period
AT - AAT
S-curve
region
AAT
S-curve
region
AAT
S-curve
region
BBT
Linear
period
BT - BBT
S-curve
region
BBT
BT
BT + BBT
AT
AT + AAT
Acceleration
Deceleration
Start of
acceleration
End of
acceleration
Start of
deceleration
End of
deceleration