Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 254)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-185
Instructions
5
( 2 ) Format
∗ 1. This data type can be used only for version 2.30 or higher. For earlier versions, the lower 16 bits of the double-
length integer are used in the calculations as an integer.
∗ 2. C and # registers cannot be used.
[ a ] Parameter Table Configuration for SLAU Instruction with Integers
∗ The relay input and output bits are assigned as follows. (Close = Bit change to 1 (ON), Open = Bit change to 0
(OFF))
Parameter Name
Applicable Data Types
B W L F A Index Constant
Input speed (In) × { { *1 { × { ×
First address of parameter
table (Prm)
× × × × { *2 { {
Output speed (Out) × { *2 { *1, 2 { *2 × { ×
First address of
parameter table
Output speed
Input speed
Icon:
Key entry: SLAU
Address
Data
Type
Symbol Name Specification I/O
0 W RLY Relay I/O Relay inputs and relay outputs * IN/OUT
1 W LV 100% level of input Scale for 100% input IN
2 W AT Acceleration time Time to accelerate from 0% to 100% (0.1 s) IN
3 W BT Deceleration time Time to decelerate from 100% to 0% (0.1 s) IN
4 W QT Quick stop time Time to make a quick stop from 100% to 0% (0.1 s) IN
5 W AAT Acceleration S-curve time Acceleration S-curve region time (0.01 to 32.00 s) IN
6 W BBT Deceleration S-curve time Deceleration S-curve region time (0.01 to 32.00 s) IN
7 W V Current speed SLAU output (output to Out) OUT
8 W DVDT1
Current acceleration/
deceleration rate 1
Scaling with the normal acceleration rate set to 5,000 OUT
9 W – (Reserved.) Spare register –
10 W ABMD
Speed increase when
holding Amount of speed change until the speed stabilizes
after the hold command is executed
OUT
11 W REM1 Remainder Remainder of the acceleration/deceleration rate OUT
12 W – (Reserved.) Spare register –
13 W VIM Previous speed reference
For storage of the previous speed reference input
value
OUT
14 L DVDT2
Current acceleration/
deceleration rate 2
1,000 times the actual acceleration/deceleration OUT
16 L DVDT3
Current acceleration/
deceleration rate 3 Current acceleration/deceleration rate ( = DVDT2/
1,000)
OUT
18 L REM2 Remainder
Remainder of the S-curve region acceleration/decel-
eration rate
OUT
20 W REM3 Remainder Remainder of the current speed OUT
21 W DVDTK DVDT1 coefficient
Scaling factor for DVDT (Current acceleration rate 1)
(-32,768 to 32,767)
OUT