Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 170)

1 Ladder Program Instructions
1.7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
1-160
Real Type SLAU Instruction
• After (
∗
S) operates (
∗
O) as follows, addition-subtraction speed (DVDT) is output now.
(
∗
S) is accelerating: In S character section: DVDT = ADVS.
Outside S character section: DVDT = ADV
Moderation inside : In S character section: DVDT = BDVS.
Outside S character section: DVDT = BDV
• It was output to operate (
∗
O) as follows maintenance per hour degree rise (ABMD).
• When line in operation (RN) is "Open", V = 0, DVDT = 0, and ABMD = 0 are output.
LV × Ts (0.1 ms) Outside S character section
Acceleration rate (ADV ) =
AT (s)
× 10000
(ADVS > ADV)
VI > V (V > 0):
V
= V + ADV
, ,
,
LV × Ts (0.1ms) Outside S character section
Moderation rate (BDV) =
BT(s)
× 10000
(BDVS < BDV)
VI < V (V > 0):
V = V + BDV
,
, ,
LV
× Ts (0.1 ms)
QS = ON (V > VI):
Rapid stop rate (QDV) =
QT(s)
× 10000
V = V + QDV
,
,
S character section acceleration rate (ADVS) = ADVS ± AADVS
ADV
× Ts (0.1 ms)
: Value last time of ADVS = ADVS
AADVS =
AAT(s)
× 10000
In (ADVS < ADV) in S character section
VI > V (V > 0):
V = V + ADVS
,
,
,
,
,
S character section moderation rate (BDVS) = BDVS ± BBDVS
BDV
× Ts (0.1 ms) :Value last time of BDVS = BDVS
BBDVS =
BBT(s)
× 10000
Outside S character section
(BDVS > BDV)
VI < V (V > 0):
V = V + BDVS
V : Speed output value last time
VI: Speed instruction input
Ts : Scanning time setting value
,
,
,
, ,
,
DVDT
× DVDT
ABMD =
2
× AADVS (BBDVS)