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Scaling Example — Steppers (GT6K)
We configure for a 25,000 step/rev system attached to 5-pitch leadscrew. The user wants to program
motion parameters in inches; therefore the scale factor calculation is: 25,000 steps/rev x 5 revs/inch =
125,000 steps/inch. For instance, with a scale factor of 125,000, the operator could enter a move distance
value of 2.000 and the controller would send out 250,000 pulses, corresponding to two inches of travel.
SCALE1
; Enable scaling
DRES25000
; Set drive resolution to 25,000 steps/rev
SCLD125000
; Allow user to enter distance in inches
SCLV125000
; Allow user to enter velocity in inches/sec
SCLA125000
; Allow entering accel/decel in inches/sec/sec
DRESET
; Reset the drive so the DRES value is accepted
Scaling Example — Servos (GV6K)
We configure for a 4,000 count/rev servo motor/drive system (using a 1000-line encoder) attached to a 5-
pitch leadscrew. The user wants to position in inches; therefore, the scale factor calculation is 4,000
counts/rev x 5 revs/inch = 20,000 counts/inch.
SFB1
; Select encoder feedback
ERES4000
; Set encoder resolution to 4000 steps/rev (post quadrature)
SCALE1
; Enable scaling
SCLD20000
; Allow user to enter distance values in inches
SCLV20000
; Allow user to enter velocity values in inches/sec
SCLA20000
; Allow user to enter accel/decel values in inches/sec/sec
DRESET
; Reset the drive so the DRES value is accepted
Scaling Example — Following
Typically, the master and follower scale factors are programmed so that master and follower units are the
same, but this is not required. Consider the scenario below as an example.
The master is a 1000-line encoder (4000 counts/rev post-quadrature) mounted to a 50 teeth/rev pulley
attached to a 10 teeth/inch conveyor belt, resulting in 80 counts/tooth (4000 counts/50 teeth = 80
counts/tooth). To program in inches, you would set up the master scaling factor with the SCLMAS800
command (80 counts/tooth ∗ 10 teeth/inch = 800 counts/inch).
The follower is a servo motor with position feedback from a 1000-line encoder (4000 counts/rev). The
motor is mounted to a 4-pitch (4 revs/inch) leadscrew. Thus, to program in inches, you would set up the
follower scaling factor with the SCLD16000 command (4000 counts/rev ∗ 4 revs/inch = 16000
counts/inch).
SCALE1
; Enable scaling
SCLMAS800
; Master scaling (80 counts/tooth * 10 teeth/inch = 800 counts/inch)
SCLD16000
; Follower scaling (4000 counts/rev * 4 revs/inch = 16000 counts/inch)
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Introduction
21
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