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7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction (LAU)

7-29

7.11 LINEAR ACCELERATOR/DECELERATOR 1 Instruction

(LAU)

[Outline]

The LAU instruction performs acceleration and deceleration at a fixed acceleration/ deceleration rate

upon input of a speed reference (

Input). The operation is performed according to the contents of a

previously set parameter table.

The input to the LAU operation must be integer or real number data. Double-length 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.

Table of Integer Type LAU Instruction Parameters

ADR

Type

Symbol

Name

Specification

I/O

0 W RLY Relay I/O Relay input, relay output *

IN/OUT

1 W LV

100％ input level Scale of the 100％ input

2 W AT Acceleration time

Time for acceleration from 0％ to100％ (0.1s)

3 W BT Deceleration time

Time for deceleration from 0

％

to100

％

(0.1s)

4 W QT Quick stop time

Time for quick stop from 100％ to 0％ (0.1s)

5 W V Current speed LAU output (also output to the A register) OUT

6 W DVDT Current acceleration

/ deceleration speed

Scaled with the normal acceleration rate being set

to 5000.

OUT

7 W

－

(Reserve) Reserve register

－

8 W VIM Previous speed

reference

For storage of the previous value of the speed

reference input

OUT

9 W DVDTK Remainder Scaling coefficient of the current acceleration

/ deceleration speed (DVDT) (-32768 to 32767)

10 L REM Remainder Remainder of the acceleration / deceleration rate OUT

: Relay I/O Bit Assignment

BIT Symbol Name Specification 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. *

2 DVDTF DVDT Operation

not executed

"ON" is input at non-execution of DVDT operation.

3 DVDTS DVDT Operation

selection

Selection DVDT operation type

4 to 7 －

(Reserve) Reserve 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 at a speed of 0. OUT

B EQU Coincidence "ON" is output when input value = output value. OUT

C to F

－

(Reserve) Reserve relay for input OUT

: When the quick stop (QS) is "OFF", the quick stop time is used for the acceleration / deceleration time.

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