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7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction (SLAU)
7-32
7.12 LINEAR ACCELERATOR/DECELERATOR 2 Instruction
(SLAU)
[Outline]
The SLAU instruction performs acceleration and deceleration at a variable acceleration/deceleration
rate upon input of a speed reference (
Input). The operation is performed according to the contents of
the previously set parameter table.
Positive and negative values can be entered for speed reference input. Always set a value so that the
linear acceleration or deceleration time (AT or BT) is greater than or equal to the S-curve acceleration
or deceleration time (AAT or BBT).
The input to the SLAU 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.
Table of Integer Type SLAU Instruction Parameters
ADR Type Symbol Name Specification I/O
0 W RLY Relay I/O Relay input, relay output *
1
IN/OUT
1 W LV
100
％
input level Scale of the 100
％
input
IN
2 W AT Acceleration time
Time for acceleration from 0％ to100％ (0.1s)
IN
3 W BT Deceleration time
Time for deceleration from 0％ to100％ (0.1s)
IN
4 W QT Quick stop time
Time for quick stop from 100％ to 0％ (0.1s)
IN
5 W AAT S-curve acceleration
time
Time spent in the S-curve region of acceleration
(0.01-32.00s)
IN
6 W BBT S-curve deceleration
time
Time spent in the S-curve region of deceleration
(0.01-32.00s)
IN
7 W V Current speed SLAU output (also output to the A register) IN
8 W DVDT1 Current acceleration
/deceleration speed1
(DVDT1)
Scaled with the normal acceleration rate being set
to 5000.
OUT
9 W
－
(Reserve) Reserve register
－
10 W ABMD Speed increase upon
holding
Amount of change in speed after hold instruction
and until stabilization.
OUT
11 W REM1 Remainder Remainder of the acceleration and deceleration rate OUT
12 W －
(Reserve) Reserve register －
13 W VIM Previous speed
reference
For storage of the previous value of the speed
reference.
OUT
14 L DVDT2 Current acceleration
/deceleration speed2
(DVDT2)
1000 times of the current acceleration / deceleration
speed
OUT
16 L DVDT3 Current acceleration
/deceleration speed3
(DVDT3)
Current acceleration / deceleration speed
(=DCDT2/1000)
OUT
18 L REM2
Remainder
Remainder of the S-curve region acceleration and
deceleration rate
OUT
20 W REM3 Remainder Remainder of the current speed OUT
21 W DVDTK DVDT1 coefficient Scaling coefficient of the current acceleration
/ deceleration speed (DVDT) (-32768 to 32767)
IN
*
1
: Relay I/O Bit Assignment
- Ladder Works 1
- TABLE OF CONTENTS 2
- 9 STANDARD SYSTEM FUNCTION 5
- Appendix 5
- 1 Relay Circuit Instructions 6
- [Outline] 10
- [Format] 10
- [Parameter] 10
- [Program Example] 10
- 1.9 COIL Instruction (COIL) 15
- [Program Example ] 22
- 2.8 MOD Instruction (MOD) 31
- 2.9 REM Instruction (REM) 32
- 2.10 INC Instruction (INC) 33
- 2.11 DEC Instruction (DEC) 35
- Instructions 54
- 3.1 AND Instruction (AND) 55
- 3.2 OR Instruction (OR) 56
- 3.3 XOR Instruction (XOR) 57
- Method of setting RSSEL 70
- Method of setting MDSEL 71
- Instruction Sequence 75
- Instruction Sequence 1 78
- Instruction Sequence 2 78
- 5.2 SINE Instruction (SIN) 86
- 5.3 COSINE Instruction (COS) 88
- 6.10 SORT Instruction (SORT) 116
- 7 DDC Instructions 122
- Parameter Name Setting 159
- ADR Type 173
- 9 Standard System Function 176
- 9.3 Trace Function (TRACE) 180
- 9.4.1 Readout of Data 182
- ■ Record Length 183
- ■ Number of Records 183
- Year and month of occurrence 185
- Day and hour of occurrence 185
- Name Bit Name Remarks 189
- 9.7.1 Parameters 191
- Bit Assignment 192
- COMMAND 192
- PARAMETER 192
- ■ Called Station # (PARAM02) 193
- ■ Function Code (PARAM04) 193
- ■ Data Address 194
- ■ Data Size (PARAM06) 194
- 9.7.2 Input 196
- 9.7.3 Program Example 197
- Figure 9.11 Program Sample 198
- 9.8.1 Parameters 200
- Function Code Setting 201
- 9.8.2 Input 202
- 9.8.3 Output 203
- 9.8.4 Program Example 204
- Figure 9.12 Program Sample 205
- Name Bit No. Remarks 207
- WRITE ENTER command 208
- 9.9.3 Program Example 209
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