Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 172)

1 Ladder Program Instructions
1.7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
1-162
Real Number Type Operation
MF00200 to MF00218 are used for the parameter table.
Note: Please note the following when you use integer type SLAU instruc-
tion.
Please do not change input value (VI) before reaching input value
(VI) (de-and acceleration inside).
When input value (VI) is changed in the de-and acceleration, over-
shooting/undershoot might be generated. (Refer to the figure below)
Please make the application program when you change input value
(VI) in the de-and acceleration by either the undermentioned.
• Please use real type SLAU instruction.
• Please use the LIMIT instruction together when you use inte-
ger SLAU instruction. The output value of integer type
SLAU instruction is limited, and that is, please assume the
output value of the LIMIT instruction to be a input value of
the LIMIT instruction, and limit overshooting/undershoot.
I will encourage the use of one real type SLAU instruction
from the easiness of making the application program.
Deviation input value
Head address of parameter table
SLAU output value
BT
Speed
(V)
VI
(100%)
0
Acceleration Deceleration
S-curve
section Straight
line area S-curve
section
AAT AT-AAT
AT
AT + AAT BT + BBT
AAT
S-curve
section Straight
line area S-curve
section
BBT BT-BBT BBT
Acceleration
start Acceleration
completed Deceleration
start Deceleration
completed
Time
(t)