Table of Contents
Advertisement
SCLA
Acceleration Scale Factor
Type
Scaling
Syntax
<a_><!>SCLA<i>
Units
i = counts/unit
Range
1 - 999,999
Default
4000
(Servos auto-detect based on SFB: 4000 if encoder, 4096 if
resolver)
Response
SCLA:
*SCLA4000
See Also
ANIRNG, FMAXA, SCALE, SCLD, SCLMAS, SCLV, SFB, TSTAT
NOTE: All scaling settings (SCALE, SCLA, SCLD, SCLV and SCLMAS)
are automatically saved in the Gem6K's battery-backed RAM.
When scaling is enabled (
SCALE1
,
,
) and deceleration values (
JOGAA
JOYA
JOYAA
,
,
,
JOGAD
JOGADA
JOYAD
JOYADA
the units are counts/unit, and all the acceleration values are in units/sec/sec, all accelerations will thus be
internally represented as counts/sec/sec.
Stepper axes: If scaling is enabled (
by the acceleration scaling factor (
(sometimes referred to as "motor steps"/sec/sec).
If scaling is disabled (
these values are internally multiplied by the drive resolution (
values in commanded counts/sec/sec for the motion trajectory calculations.
Servo axes: If scaling is enabled (
the acceleration scaling factor (
If scaling is disabled (
encoder values are internally multiplied by the encoder resolution (
decel values in counts/sec/sec for the motion trajectory calculations.
As the acceleration scaling factor (
resolution of the acceleration and deceleration values and
the number of positions to the right of the decimal point
also change (see table at right). An acceleration value with
greater resolution than allowed will be truncated. For
example, if scaling is set to
SCLA1Ø
command would be truncated to
The following equations can help you determine the range of acceleration and deceleration values.
Axis Type
Min. Accel or Decel (resolution)
0.001 ∗ DRES
GT6K Stepper
SCLA
GV6K Servo
Encoder Feedback:
For additional details on scaling, including scaling examples, refer to page 16.
256
Gemini GV6K/GT6K Command Reference
), all point-to-point acceleration values (
,
,
AD
ADA
LHAD
) are multiplied by the Acceleration Scale Factor (
), the entered accel and decel values are internally multiplied
SCALE1
) to convert user units/sec/sec to commanded counts/sec/sec
SCLA
), all accel and decel values are entered in commanded revs/sec/sec;
SCALEØ
), the entered accel and decel values are internally multiplied by
SCALE1
) to convert user units/sec/sec to encoder counts/sec/sec.
SCLA
), all accel and decel values are entered in encoder revs/sec/sec;
SCALEØ
) changes, the
SCLA
, the
A9.9999
.
A9.9
0.001 ∗ ERES
SCLA
MORE ABOUT SCALING
www.comoso.com
,
,
,
A
AA
HOMA
HOMAA
,
,
,
,
LHADA
LSAD
LSADA
HOMAD
) command. Since
SCLA
) value to obtain accel and decel
DRES
) value to obtain accel and
ERES
SCLA (counts/unit)
Decimal Places
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
Product
Rev
GT6K
6.0
GV6K
6.0
,
,
JOGA
,
,
HOMADA
Advertisement
Table of Contents
