Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 257)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-188
When QS (quick stop) opens (OFF), the output decelerates at the quick stop time and the output speed is set to 0.
It is not necessary to set the input speed to 0 in the same way as for the LAU instruction.
For a quick stop, the speed is decelerated linearly without applying the S-curve.
Set the parameters so that AT or BT (linear acceleration or deceleration time) is greater than or equal to AAT or BBT (S-curve
acceleration or deceleration time).
( 3 ) Programming Example
In the following programming example, the SLAU instruction for real numbers is executed with the specified accelera-
tion and deceleration rates where MF00000 is the input speed and MF00002 is the output speed.
The following parameters are set with an EXPRESSION instruction to create the acceleration or deceleration rate.
• Speed when input level of acceleration or deceleration rate is 100% = 20,000
• Acceleration time = 1.5 s
• Deceleration time = 2.5 s
• Quick stop time = 0.5 s
• Acceleration S-curve time = 0.5 s
• Deceleration S-curve time = 1.0 s
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