Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 163)

1.7 DDC Instructions
1-153
1
• If the DVDT operation instruction (DVDTF) is ON, a current acceleration/deceleration
operation (DVDT) is performed.
• If DVDTF is OFF, DVDT = 0 is output. If DVDTF is ON, a current acceleration/decel-
eration operation (DVDT) is output after one of the following operations has been per-
formed through DVDT operation selection (DVDTS).
After (
∗
S) operates (
∗
O) of either as follows, the operation of addition-subtraction speed
(DVDT) is output by DVDT operation selection (DVDTS) now when DVDTF is turn-
ing on.
• When the "line is running" signal (RN) is "OFF", V = 0 and DVDT = 0 are output.
Real Type LAU Instruction
LV
× Ts (0.1 ms) + REM When QS = ON (VI > V ),
Quick stop rate (QDV) =
QT (0.1 s) × 1000 V = V
V : previous speed output value
VI: Speed designated input
Ts : scan time setting
+ QDV: In deceleration (BRY)
ON
At QS=ON(VI < V, V > 0)
V = V - QDV: In deceleration (BRY)
ON
,
,
,
, ,
,
V - V’
If DVDTS is ON: DVDT
=
ADV
× 5000
If DVDTS is OFF DVDT
= (V × DVDTK)
- (V’
× DVDTK)
At V
= 0, the zero velocity (LSP) is ON, at VI = V equality (EQU) turns ON.
:
LV
× Ts (0.1 ms)
When VI > V (V > 0) ,
Acceleration rate (ADV)
= AT(s) × 10000 V = V + ADV: ARY (in acceleration) is
ON
When VI < V'
(V < 0) ,
V
= V - ADV: ARY (in acceleration) is
ON
’
’
’
’ ’
-LV
× Ts (0.1 ms)
When VI < V (V > 0)
Deceleration rate (BDV)
= BT(s) × 10000 V = V + BDV: BRY (in deceleration) is
ON
At VI > V (V <0)
V
= V - BDV: BRY (in deceleration) is
ON
’ ’
’
’ ’
’
-LV
× Ts (0.1 ms) When
QS
= ON (V > VI),
Quick stop rate (QDV)
=
QT(s) × 10000 V = V + QDV: BRY (in deceleration) is
ON
When QS
= ON (V < VI)
V
= V - QDV: BRY
(in deceleration) is
ON
V : previous speed output value
VI: Speed designated input
Ts : scan time setting (ms) ’
’
’
’
’