Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 261)

5.8 DDC Instructions
5.8.12 Linear Accelerator/Decelerator 2 (SLAU)
5-192
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Speed Output Value during S-Curve Acceleration
The speed output value during S-curve acceleration is calculated as follows:
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Speed Output Value during S-Curve Deceleration
The speed output value during S-curve deceleration is calculated as follows:
„ Current Acceleration/Deceleration Rate
The value of DVDT (current acceleration/deceleration rate 1) is output after the following operation is performed:
During acceleration: Inside the S-curve region: DVDT = ADVS
Outside the S-curve region: DVDT = ADV
During deceleration: Inside the S-curve region: DVDT = BDVS
Outside the S-curve region: DVDT = BDV
During a quick stop: DVDT = QDV
The result of ABMD (speed increase upon holding) is output after the following operation is performed.
LSP (zero speed) turns ON when V equals 0. EQU (equal) turns ON when VI equals V.
If RN (line running) is opened (OFF), the outputs for V, DVDT, and AVMD are set to 0.
AADVS = ADV × Ts (0.1 ms)
AAT (s) × 10,000
ADVS (S-curve region acceleration rate) = ADVS’ ± AADVS
If VI > V' (V' ≥ 0) inside an S-curve region (ADVS < ADV), then V = V' + ADVS.
If VI < V' (V' ≤ 0) inside an S-curve region (ADVS < ADV), then V = V' − ADVS.
BBDVS = BDV × Ts (0.1 ms)
BBT (s) × 10,000
BDVS (S-curve region deceleration rate) = BDVS' ± BBDVS
If VI > V' (V'< 0) inside an S-curve region (BDVS < BDV), then V = V' + BDVS.
If VI < V' (V'> 0) inside an S-curve region (BDVS < BDV), then V = V' − BDVS.
ABMD =
DVDT × DVDT
2 × AADVS (BBDVS)
INFO