Allen-Bradley SLC 500 Series

Publication 1747-RM001G-EN-P - November 2008
Math Instructions 4-21
The following illustrations show Linear Ramp, Acceleration, Deceleration and
“S” Curve Ramp waveforms.
Table 4.14 Ramp Instruction Control Structure
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Word 0 EN RMP DN ER Ramp Algorithm Type
000
TB
(1)
00
Waveform
(2)
Word 1 Desired Time
Word 2 Current Time
Word 3 Beginning Output Value
Word 4 Ending Output Value
Words
5 and 6
Internal use only
(1)
TB = 0, Timebase = 0.01 seconds
TB = 1, Timebase = 1.0 second
(2)
Waveform = 00 Linear
Waveform = 01 Acceleration
Waveform = 10 Deceleration
Waveform = 11 “S” Curve
Linear Ramp Waveform
Acceleration Waveform
“S” Curve Ramp WaveformDeceleration Waveform
Length of Ramp, in seconds Length of Ramp, in seconds
Length of Ramp, in secondsLength of Ramp, in seconds
Ending Ramp
Output Value
Beginning Ramp
Output Value
Beginning Ramp
Output Value
Ending Ramp
Output Value
Ending Ramp
Output Value
Ending Ramp
Output Value
Beginning Ramp
Output Value
Beginning Ramp
Output Value
Ramp Output
Ramp OutputRamp Output
Ramp Output