Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 166)

1 Ladder Program Instructions
1.7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
1-156
Table 1.28 Integer Type SLAU 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 IN
2 W AT Acceleration time Time for acceleration from 0% to100% (0.1 s) IN
3 W BT Deceleration time Time for deceleration from 0% to100% (0.1 s) IN
4 W QT Quick stop time Time for quick stop from 100% to 0% (0.1 s) IN
5 W AAT S-curve acceleration time Time spent in the S-curve area during acceleration
(0.01 s) IN
6 W BBT S-curve deceleration time Time spent in the S-curve area during deceleration
(0.01 s) IN
7 W V Current speed SLAU output (also output to the A register) OUT
8 W DVDT1 Current acceleration/
deceleration speed1
(DVDT1) Scaled with the normal acceleration rate being set to
5000. OUT
9 W − (Reserved) Reserved register −
10 W ABMD Speed increase upon
holding Amount of change in speed after hold instruction and
until stabilization. OUT
11 W REM1 Remainder Remainder of acceleration/deceleration rate OUT
12 W − (Reserved) Reserved register −
13 W VIM Remainder For storage of the previous value of the speed desig-
nation input OUT
14 L DVDT2 Current acceleration/
deceleration speed2
(DVDT2) 1000 times of actual acceleration/deceleration OUT
16 L DVDT3 Current acceleration/
deceleration speed3
(DVDT3) Current acceleration/deceleration ( = DCDT2/1000) OUT
18 L REM2 Remainder Remainder of S-curve area acceleration/deceleration
rate OUT
20 W REM3 Remainder Remainder of the current speed OUT
21 W DVDTK DVDT1 coefficient Scaling coefficient (-32768 to 32767) of current
acceleration/deceleration (DVDT1) IN