Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 168)

1 Ladder Program Instructions
1.7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
1-158
* Relay I/O Bit Assignment
The following operations are performed inside integer type SLAU instructions.
Integer Type SLAU Instruction
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 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 output OUT
LV
× Ts (0.1 ms) + REM1 Outside S- curve area (ADVS > ADV)
Acceleration rate (ADV)
=
AT(0.1s)
× 1000
When VI > V (V
≥
0)
V
= V + ADV: In acceleration (ARY)
ON
When VI < V (V
≤
0)
V
= V - ADV: In acceleration (ARY)
ON
, ,
,
,
, ,
LV
× Ts (0.1 ms) + REM1 Outside S-curve area (BDVS > BDV)
Deceleration rate (BDV)
=
BT (0.1s)
× 1000
At VI > V (V < 0)
V
= V + BDV: In deceleration (BRY)
ON
When VI < V (V > 0)
V
= V - BDV: In deceleration
(BRY)
ON
, ,
, ,
,
,
LV × Ts (0.1 ms) + REM1 When QS = ON (VI > V ) ,
Quick stop rate (QDV) =
QT (0.1 s) × 1000
ON
When QS = ON (VI < V’),
ON
(NOTE) The quick stop rate is not S -
curve movement, but linear movement
(same as the quick stop rate of SLAU).
V = V + QDV: In deceleration(BRY)
,
V = V - QDV: In deceleration(BRY)
,
,