Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 260)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-191
Instructions
5
ARY (accelerating) turns ON at the following times:
• When V’
≥ 0 and ADV > 0, or when V’ ≤ 0 and ADV < 0
• If V’ ≥ 0 and ADVS > 0 inside an S-curve region, or if V’ ≤ 0 and ADVS < 0 inside an S-curve region
BRY (decelerating) turns ON at the following times:
• When V’ < 0 and BDV > 0, or when V’ > 0 and BDV < 0
• When V’ < 0 and QDV > 0, or when V’ > 0 and QDV < 0
• When V’ < 0 and BDVS > 0 inside an S-curve region, or if V’ > 0 and BDVS < 0 inside an S-curve region
LSP (zero speed) turns ON when V equals 0. EQU (equal) turns ON when VI equals V.
If RN (line running) is opened (OFF), the outputs for V, DVDT1, DVDT2, DVDT3, REM1, REM2, and REM3 are set to 0.
[ b ] Operation of the SLAU Instruction for Double-length Integers or Real Numbers
The SLAU instruction for double-length integers or real numbers 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.
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, Ts is the scan time set value, ADVS’ is the previous ADVS value, and BDVS’ is the previous BDVS 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:
„ 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.
INFO
ADV (acceleration rate) =
LV × Ts (0.1 ms)
AT (s) × 10,000
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)
BT(s) × 10,000
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)
QT (s) × 10,000