Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 259)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-190
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Speed Output Value during a Quick Stop
The speed output value during a quick stop is calculated as follows:
ΠFor a quick stop, the speed is decelerated linearly without applying the S-curve.
„ Speed Output Value during S-Curve Acceleration
The speed output value during S-curve acceleration is calculated as follows:
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Speed Output Value during S-Curve Deceleration
The speed output value during S-curve deceleration is calculated as follows:
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Current Acceleration/Deceleration Rate
If DVDTF (skip execution of DVDT1 operation) is ON, DVDT1 (current acceleration/deceleration rate 1) will be cal-
culated according to the setting of DVDTS (DVDT1 operation selection) using one of the following formulas. If
DVDTF is OFF, DVDT1 is set to 0.
The value for DVDT2 (current acceleration/deceleration rate 2) is calculated as follows:
During acceleration: Inside the S-curve region: DVDT2 =
±ADVS
Outside the S-curve region: DVDT2 = ±ADV
During deceleration: Inside the S-curve region: DVDT2 = ±BDVS
Outside the S-curve region: DVDT2 = ±BDV
During a quick stop: DVDT = ±QDV
The result of ABMD (speed increase upon holding) is output after the following operation is performed.
If QS = OFF (VI > V', V' < 0), then V = V' + QDV.
If QS = OFF (VI < V', V' > 0), then V = V' − QDV.
QDV (Quick Stop Rate) =
LV × Ts (0.1 ms) + REM1
QT (0.1 s) × 1,000
AADVS = ADV × Ts (0.1 ms) + REM2
AAT (0.01 s) × 100
If VI > V' (V' ≥ 0) inside an S-curve region (ADVS < ADV), then V = V' + ADVS.
If VI < V' (V' ≤ 0) inside an S-curve region (ADVS < ADV), then V = V' − ADVS.
ADVS (S-curve region acceleration rate) = ADVS' ± AADVS
BBDVS = BDV × Ts (0.1 ms) + REM2
BBT (0.01 s) × 100
BDVS (S-curve region deceleration rate) = BDVS' ± BBDVS
If VI > V' (V'< 0) inside an S-curve region (BDVS < BDV), then V = V' + BDVS.
If VI < V' (V'> 0) inside an S-curve region (BDVS < BDV), then V = V' − BDVS.
If DVDTS is ON, DVDT1 =
If DVDTS is OFF, DVDT1 = (V – V' ) × DVDTK
(V – V' ) × 5,000
ADV
ABMD =
DVDT2': Previous value of DVDT2 (current acceleration/deceleration rate 2)
DVDT2' × DVDT2'
2 × AADVS (BBDVS)