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Acceleration & Deceleration Scaling (SCLA)
Stepper Axes: If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by
the acceleration scaling factor to convert user units/sec/sec to commanded counts/sec/sec.
The scaled values are always in reference in commanded counts, regardless of the existence
of an encoder.
Servo Axes:
If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by
the acceleration scaling factor to convert user units/sec/sec to encoder or resolver
counts/sec/sec.
All accel/decel commands (e.g., A, AA, AD, HOMA, HOMAD, JOGA, etc.) are multiplied by the SCLA
command value.
As the accel/decel scaling factor (
changes, the resolution of the accel and decel
values and the number of positions to the right of
the decimal point also change (see table at right).
An accel/decel value with greater resolution than
allowed will be truncated (e.g., if scaling is set to
, the
command would be
SCLA1Ø
A9.9999
truncated to
).
A9.9
The following equations can help you determine the range of acceleration and deceleration values.
Axis Type
Min. Accel or Decel (resolution)
0.001 ∗ DRES
Stepper
SCLA
Servo
Encoder Feedback:
Velocity Scaling (SCLV)
Stepper Axes:
If scaling is enabled (SCALE1), all velocity values entered are internally multiplied by the
velocity scaling factor to convert user units/sec to commanded counts/sec. The scaled
values are always in reference to commanded counts (sometimes referred to as "motor
steps").
Servo Axes:
If scaling is enabled (SCALE1), all velocity values entered are internally multiplied by the
velocity scaling factor to convert user units/sec to encoder or resolver counts/sec.
All velocity commands (e.g., V, HOMV, HOMVF, JOGVH, JOGVL, etc.) are multiplied by the SCLV
command value.
As the velocity scaling factor (SCLV) changes, the velocity command's range and its decimal places also
change (see table below). A velocity value with greater resolution than allowed will be truncated. For
example, if scaling is set to SCLV10, the V9.9999 command would be truncated to V9.9.
SCLV Value
(counts/unit)
1 - 9
10 - 99
100 - 999
1000 - 9999
10000 - 99999
100000 - 999999
)
SCLA
SCLA value (counts/unit/unit)
0.001 ∗ ERES
SCLA
Velocity Resolution
(units/sec)
1
0.1
0.01
0.001
0.0001
0.00001
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1 - 9 ............................................ 0
10 - 99 ........................................ 1
100 - 999 .................................... 2
1000 - 9999 ................................ 3
10000 - 99999 ............................ 4
100000 - 999999 ........................ 5
Max. Accel or Decel
999.9999 ∗ DRES
SCLA
999.9999 ∗ ERES
Encoder Feedback:
SCLA
Decimal Places
0
1
2
3
4
5
Introduction
Decimal Places
19
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