256
Gemini GV6K/GT6K Command Reference
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
Product Rev
GT6K 6.0
GV6K 6.0
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
), all point-to-point acceleration values (
A
,
AA
,
HOMA
,
HOMAA
,
JOGA
,
JOGAA
,
JOYA
,
JOYAA
) and deceleration values (
AD
,
ADA
,
LHAD
,
LHADA
,
LSAD
,
LSADA
,
HOMAD
,
HOMADA
,
JOGAD
,
JOGADA
,
JOYAD
,
JOYADA
) are multiplied by the Acceleration Scale Factor (
SCLA
) command. Since
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 (
SCALE1
), the entered accel and decel values are internally multiplied
by the acceleration scaling factor (
SCLA
) to convert user units/sec/sec to commanded counts/sec/sec
(sometimes referred to as “motor steps”/sec/sec).
If scaling is disabled (
SCALEØ
), all accel and decel values are entered in commanded revs/sec/sec;
these values are internally multiplied by the drive resolution (
DRES
) value to obtain accel and decel
values in commanded counts/sec/sec for the motion trajectory calculations.
Servo axes
: If scaling is enabled (
SCALE1
), the entered accel and decel values are internally multiplied by
the acceleration scaling factor (
SCLA
) to convert user units/sec/sec to encoder counts/sec/sec.
If scaling is disabled (
SCALEØ
), all accel and decel values are entered in encoder revs/sec/sec;
encoder values are internally multiplied by the encoder resolution (
ERES
) value to obtain accel and
decel values in counts/sec/sec for the motion trajectory calculations.
As the acceleration scaling factor (
SCLA
) changes, the
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
, the
A9.9999
command would be truncated to
A9.9
.
SCLA
(counts/unit) Decimal
Places
1 - 9
0
10 - 99
1
100 - 999
2
1000 - 9999
3
10000 - 99999
4
100000
-
999999
5
The following equations can help you determine the range of acceleration and deceleration values.
Axis Type
Min. Accel or Decel (resolution)
Max. Accel or Decel
GT6K Stepper
0.001
∗
DRES
SCLA
999.9999
∗
DRES
SCLA
GV6K Servo
Encoder Feedback:
0.001
∗
ERES
SCLA
Encoder Feedback:
999.9999
∗
ERES
SCLA
MORE ABOUT SCALING
For additional details on scaling, including scaling examples, refer to page
16
.
www.comoso.com
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