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Units of Measure and Scaling
Units of Measure without Scaling
Scaling is disabled (SCALEØ) as the factory default condition:
• Stepper axes: All distance values entered are in commanded counts (sometimes referred to as motor
steps), and all acceleration, deceleration and velocity values entered are internally multiplied by the
DRES command value.
• Servo axes:
Motion Attribute Encoder or Resolver
Accel/Decel
Velocity
Distance
*
All accel/decel & velocity values are internally multiplied by the ERES command value.
** Distance is measured in the counts received from the feedback device.
What is Scaling?
Scaling allows you to program acceleration, deceleration, velocity, and position values in units of measure
that are appropriate for your application. The SCALE command is used to enable or disable scaling
(SCALE1 to enable, SCALEØ to disable). The motion type(s) you are using in your application determines
which scale factor commands you need to configure:
Type of Motion
Standard Point-to-Point Motion
Following
When Should I Define Scaling Factors?
Scaling calculations are performed when a program is defined or downloaded. Consequently, you must
enable scaling (SCALE1) and define the scaling factors (SCLD, SCLA, SCLV, SCLMAS) prior to defining
(DEF), uploading (TPROG), or running (RUN) the program. NOTE: All scaling settings (SCALE, SCLA,
SCLD, SCLV and SCLMAS) are automatically saved in the Gem6K's battery-backed RAM.
RECOMMENDED: Place the scaling commands at the beginning of your program file, before the location
of any defined programs. This ensures that the motion parameters in subsequent programs in your program
file are scaled correctly. When you use Motion Planner's scaling setup wizard, the scaling commands are
automatically placed in the appropriate location in your program file.
ALTERNATIVE: Scaling factors could be defined via a terminal emulator just before defining or
downloading a program. Because scaling command values are saved in battery-backed RAM (remembered
after you issue a
command or cycle power to the Gem6K), all subsequent program definitions and
RESET
downloads will be scaled correctly.
• Scaling commands are not allowed in a program. If there are scaling commands in a program, the Gem6K
will report an error message ("COMMAND NOT ALLOWED IN PROGRAM") when the program is downloaded.
• If you intend to upload a program with scaled motion parameters, be sure to use Motion Planner. Motion
Planner automatically uploads the scaling parameters and places them at the beginning of the program file
containing the uploaded program from the Gem6K. This ensures correct scaling when the program file is later
downloaded.
18
Gemini GV6K/GT6K Command Reference
Units of Measure
Revs/sec/sec *
Revs/sec *
Counts **
Accel/Decel Scaling
Velocity Scaling
SCLA
SCLV
SCLA
SCLV
NOTES
www.comoso.com
Distance Scaling
SCLD
SCLD for follower distances
SCLMAS for master distances
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