Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 258)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-189
Instructions
5
The following figure shows how each register operates.
∗ If the quick stop bit is turned OFF, the speed is decelerated to a stop using the quick stop time, regardless of the S-
curve time and input speed.
( 4 ) Additional Information
The following operations are performed internally by the SLAU instruction.
[ a ] Operation of the SLAU Instruction for Integers
The SLAU instruction for integers calculates the speed output value during acceleration, deceleration, quick stops, S-
curve acceleration, S-curve deceleration, and the current acceleration or deceleration rates using the formulas shown
below based on predefined parameters.
In this formula, V is the speed output value, V’ is the previous speed output value, VI is the input value for the speed
reference, and Ts is the scan time set value.
„
Speed Output Value during Acceleration
The speed output value during acceleration is calculated as follows:
„
Speed Output Value during Deceleration
The speed output value during deceleration is calculated as follows:
MB00100
(Quick stop bit OFF)
MF00000
(Input speed)
ON
OFF
0
20,000
MF00002
(Output speed)
0
20,000
−10,000
−10,000
2.0 s
(AT + AAT)
(Acceleration time, deceleration time, and S-curve time settings are applied.)
3.5 s
(BT + BBT)
1.25 s
(AT/2 + AAT)
2.25 s
(BT/2 + BBT)
2.0 s
(AT + AAT)
1.0 s*
(QT)
(Quick stop time
is applied.)
ADV (acceleration rate) =
LV × Ts (0.1 ms) + REM1
AT (0.1 s) × 1,000
If VI > V' (V' ≥ 0) outside an S-curve region (ADVS > ADV), then V = V' + ADV.
If VI < V' (V' ≤ 0) outside an S-curve region (ADVS > ADV), then V = V' − ADV.
If VI > V' (V'< 0) outside an S-curve region (BDVS > BDV), then V = V' + BDV.
If VI < V' (V'> 0) outside an S-curve region (BDVS > BDV), then V = V' − BDV.
BDV (deceleration rate) =
LV × Ts (0.1 ms) + REM1
BT (0.1 s) × 1,000