Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 161)

1.7 DDC Instructions
1-151
1
1.7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU)
„ Outline
The LAU instruction performs acceleration and deceleration at a fixed acceleration/deceler-
ation rate upon input of a speed reference (Input). The operation is performed according to
the contents of a previously set parameter table.
The input to the LAU operation must be integer or real number data. Double-length data
cannot be used. The configurations of the parameter tables for integer and real number data
are different. Operations are performed by processing each parameter as an integer consist-
ing of the lower-place 16 bits.
* Relay I/O Bit Assignment
* When the quick stop (QS) is "OFF", the quick stop time (QT) is used as acceleration/decelera-
tion time.
Table 1.26 Integer Type LAU Instruction Parameters
ADR Type Symbol Name Specifications I/O
0 W RLY Relay I/O
Relay input, relay output
∗ IN/OUT
1 W LV 100% input level Scale of the 100% input value IN
2 W AT Acceleration time Time for acceleration from 0% to 100% (0.1 s) IN
3 W BT Deceleration time Time for deceleration from 0% to 100% (0.1 s) IN
4 W QT Quick stop time Time for quick stop from 100% to 0% (0.1 s) IN
5 W V Current speed LAU output (also output to the A register) OUT
6 W DVDT Current acceleration/de-
celeration speed Scale with the normal acceleration rate being set to
5000. OUT
7 W − (Reserved) Reserved register −
8 W VIM Previous speed instruction For storage of the previous value of the speed
instruction input
OUT
9 W DVDTK DVDT coefficient Scaling coefficient of the current acceleration
(DVDT) (-32768 to 32767) IN
10 L REM Remainder Remainder of the acceleration/deceleration rate OUT
BIT Symbol Name Specifications I/O
0 RN Line is running "ON" is input while the line is running. IN
1 QS Quick stop
"OFF" is input upon quick stop.
∗ IN
2 DVDTF DVDT operation non-
execution "Closed" entered in DVDT operation non-execution IN
3 DVDTS DVDT operation selec-
tion Selection DVDT operation method IN
4 to 7 − (Reserved) Reserved relay for input IN
8 ARY In acceleration "ON" is output during acceleration. OUT
9 BRY In deceleration "ON" is output during deceleration. OUT
A LSP Zero speed "ON" is output upon attainment of a speed of 0. OUT
B EQU Coincidence "ON" is output when input value = output value. OUT
C to F − (Reserved) Reserved relay for input OUT