Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 162)

1 Ladder Program Instructions
1.7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU)
1-152
* Relay I/O Bit Assignment
* When the quick stop (QS) is “OFF” , the quick stop time (QT) is used as
acceleration/deceleration time.
The following operations are performed inside integer type LAU instructions.
Integer Type LAU Instruction
Table 1.27 Real Type LAU 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 LV 100% input level Scale of the 100% input value IN
4 F AT Acceleration time Time for acceleration from 0% to 100% (s) IN
6 F BT Deceleration time Time for deceleration from 0% to 100% (s) IN
8 F QT Quick stop time Time for quick stop from 100% to 0% (s) IN
10 F V Current speed LAU output (also output to the F register) OUT
12 F DVDT Current acceleration/de-
celeration speed Scaled with the normal acceleration rate being set to
5000. OUT
BIT Symbol Name Specifications I/O
0 RN Line is running "ON" is input while the line is running. IN
1 QS Quick stop "OFF" is input upon quick stop. ∗ IN
2 to 7 − (Reserved) Reserved relay for input IN
8 ARY In acceleration "ON" is output during acceleration. OUT
9 BRY In deceleration "ON" is output during deceleration. OUT
A LSP Zero speed "ON" is output upon attainment of a speed of 0. OUT
B EQU Coincidence "ON" is output when input value = output value. OUT
C to F − (Reserved) Reserved relay for input OUT
LV × Ts (0.1 ms) + REM
When VI > V (V 0),
Acceleration rate (ADV)
=
AT (0.1 s) × 1000 V
= V + ADV: In acceleration (ARY)
ON
When VI < V (V
0),
V
= V - ADV: In acceleration (ARY)
ON
≥
≤
, ,
,
, ,
,
LV
× Ts (0.1 ms) + REM When VI > V (V < 0)
Deceleration rate (BDV)
=
BT (0.1 s)
× 1000 V = V + BDV:
In deceleration (BRY)
ON
When VI < V
(V > 0)
V = V - BDV: In deceleration (BRY)
ON
,
,
, ,
,
,