Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 165)

1.7 DDC Instructions
1-155
1
„ Program Example
Integer Type Operation
MW00100 to MW00111 are used for the parameter table.
Real Number Type Operation
MF00200 to MF00212 are used for the parameter table.
1.7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
„ Outline
The SLAU instruction performs acceleration and deceleration at a variable acceleration/
deceleration rate upon input of a speed reference (Input). The operation is performed
according to the contents of the previously set parameter table.
Positive and negative values can be entered for speed reference input. Always set a value so
that the linear acceleration or deceleration time (AT or BT) is greater than or equal to the S-
curve acceleration or deceleration time (AAT or BBT).
The input to the SLAU operation must be integer or real number data. Double-length inte-
ger data cannot be used. The configurations of the parameter tables for integer and real
number data are different
Deviation input value
Head address of parameter table
LAU output value
Deviation input value
Head address of parameter table
LAU output value