Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 246)

5.8 DDC Instructions
5.8.11 Linear Accelerator/Decelerator 1 (LAU)
5-177
Instructions
5
5.8.11 Linear Accelerator/Decelerator 1 (LAU)
( 1 ) Operation
The LAU instruction outputs the speed that results from applying a constant acceleration or deceleration rate to the
input speed. The acceleration or deceleration rate is applied according to predefined parameters in a parameter table.
The input value to the LAU instruction can be an integer or a real number. Double-length integers cannot be used.
The structure of the parameter table is different for integers and real numbers.
Time (t)
Input speed
BT
(deceleration time)
AT
(acceleration time)
100% level
LAU instruction input
speed waveform
Time (t)
LAU instruction
output speed waveform
Input speed
Acceleration/deceleration
rate set in parameters