Parker Automation Gemini GV6K, Command Reference Manual

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Introduction 19
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 (
SCLA
)
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
SCLA1Ø
, the
A9.9999
command would be
truncated to
A9.9
).
SCLA
value (counts/unit/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
Stepper 0.001
∗
DRES
SCLA
999.9999
∗
DRES
SCLA
Servo
Encoder Feedback:
0.001
∗
ERES
SCLA
Encoder Feedback:
999.9999
∗
ERES
SCLA
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)
Velocity Resolution
(units/sec) Decimal Places
1 - 9
10 - 99
100 - 999
1000 - 9999
10000 - 99999
100000 - 999999 1
0.1
0.01
0.001
0.0001
0.00001 0
1
2
3
4
5
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