Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 149)

1.7 DDC Instructions
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1
1.7.7 FIRST-ORDER LAG Instruction (LAG)
„ Outline
The LAG instruction calculates the first-order lag according to the contents of a previously
set parameter table. The input (Input) to the LAG operation must be integer or real number
data.
Double-length integer data cannot be used. The configurations of the parameter tables for
integer and real number data are different. Operations are performed by processing each
parameter as an integer consisting of the lower-place 16 bits.
* Relay I/O Bit Assignment.
* Relay I/O Bit Assignment
Here, the LAG operation is expressed as follows:
Table 1.18 Integer Type LAG Instruction Parameters
ADR Type Symbol Name Specifications I/O
0 W RLY Relay I/O
Relay input, relay output
∗ IN/OUT
1 W T First-order lag time con-
stant First-order lag time constant (ms) IN
2 W Y LAG output LAG output (also output to the A register) OUT
3 W REM Remainder Remainder stored OUT
BIT Symbol Name Specifications I/O
0 IRST LAG reset "ON" is input when LAG is reset. IN
1 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT
Table 1.19 Real Type LAG Instruction Parameters
ADR Type Symbol Name Specifications I/O
0 W RLY Relay I/O
Relay input, relay output
∗ IN/OUT
1 W − (Reserved) Reserved register −
2 F T First-order lag time con-
stant First-order lag time constant (s) IN
4 F Y LAG output LAG output (also output to the F register) OUT
BIT Symbol Name Specifications I/O
0 IRST LAG reset "ON" is input when LAG is reset. IN
1 to 7 − (Reserved) Reserved relay for input IN
8 to F − (Reserved) Reserved relay for output OUT
Y 1
X
=
1 + T S
; ie. T (dY/dt) + Y
= X ×
×