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Use the following table to determine the maximum velocity for your product type.
Max. Velocity for Stepper Axes
50 revs/sec
NOTE: These velocity limitations are hardware based. Make sure the velocity scaling value used with the desired velocity
(V command) does not exceed these velocities. The Gem6K will generate an error message if you try to exceed these
maximums. The maximum servo velocity may also be limited when using encoder feedback, depending on the encoder
resolution `used. Refer to the Gem6K Hardware Installation Guide for the maximum encoder input frequency.
Distance Scaling (SCLD
Stepper Axes: If scaling is enabled (
distance scaling factor to convert user units to commanded counts ("motor steps").
Servo Axes:
If scaling is enabled (
distance scaling factor to convert user units to encoder or analog input counts.
All standard motion distance commands (e.g.,
command value. The only exception is for master distance values (see table below):
SCLD
Scaling for Following Motion:
SCLMAS command defines the master's distance scale factor. The Following-related commands that are affected
by SCLD and SCLMAS are listed in the table below.
Commands Affected by Master Scaling (SCLMAS)
FMCLEN: Master Cycle Length
FMCP: Master Cycle Position Offset
FOLMD: Master Distance
FOLRD: Follower-to-Master Ratio (Denominator)
GOWHEN: Conditional GO (left-hand variable is PMAS)
TPMAS & [ PMAS ]: Position of Master Axis
TVMAS & [ VMAS ]: Velocity of Master Axis
As the SCLD or SCLMAS scaling factor changes, the distance command's range and its decimal places also
change (see table below). A distance value with greater resolution than allowed will be truncated. For
example, if scaling is set to SCLD4000, the D105.2776 command would be truncated to D105.277.
SCLD or SCLMAS Value
(counts/unit)
1 - 9
10 - 99
100 - 999
1000 - 9999
10000 - 99999
100000 - 999999
NOTE
If you are operating in the incremental mode (MAØ), or specifying master distance values with
FOLMD, when the distance scaling factor (SCLD or SCLMAS) and the distance value are multiplied,
a fraction of one step may be left over. This fraction is truncated when the distance value is used
in the move algorithm. This truncation error can accumulate over a period of time, when
performing incremental moves continuously in the same direction. To eliminate this truncation
problem, set SCLD or SCLMAS to 1, or a multiple of 10.
20
Gemini GV6K/GT6K Command Reference
SCLMAS)
and
), all distance values entered are internally multiplied by the
SCALE1
), all distance values entered are internally multiplied by the
SCALE1
,
,
,
D
PSET
REG
SMPER
The SCLD command defines the follower axis distance scale factor, and the
Commands Affected by Follower Scaling (SCLD)
FOLRN: Follower-to-Master Ratio (Numerator)
FGADV: Geared Advance
FSHFD: Preset Phase Shift
GOWHEN: Conditional GO (left-hand variable ≠ PMAS)
TPSHF & [ PSHF ]: Net Position Shift of Follower
TPSLV & [ PSLV ]: Position of Follower Axis
Distance Resolution
Distance Range *
(units)
(units)
1.0
0 - ±999999999
0.10
0.0 - ±99999999.9
0.010
0.00 - ±9999999.99
0.0010
0.000 - ±999999.999
0.00010
0.0000 - ±99999.9999
0.00001
0.00000 - ±9999.99999
FRACTIONAL STEP TRUNCATION
www.comoso.com
Max. Velocity for Servo Axes
200 revs/sec
,
) and are multiplied by the
STRGTD
Decimal
Places
0
1
2
3
4
5
NOTE
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