Parker Automation Gemini GV6K, Command Reference Manual

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258 Gemini GV6K/GT6K Command Reference
SCLMAS
Master Scale Factor
Type
Following; Scaling
Syntax
<a_><!>SCLMAS<i>
Units
i = scaling factor
Range
i = 1 - 999999
Default
1
Response
SCLMAS *SCLMAS1
See Also
FMCLEN, FMCP, FOLEN, FOLMD, FOLRD, FOLRN, GOWHEN, [ PCMS ],
[ PMAS ], SCALE, SCLD, TPMAS, TPCMS
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.
The
SCLMAS
command internally multiplies all Following master values by the specified scale factor value.
Since the
SCLMAS
units are in terms of counts/unit, all distances will thus be internally represented in counts.
For instance, if your master scaling factor is 10000 (
SCLMAS10000
) and you enter a master parameter of 75
(e.g.,
FOLMD75
), the internal value will be 750,000 counts. (10000 x 75 =750,000)
NOTE:
The
SCLMAS
command will not take effect unless scaling is enabled (
SCALE1
).
This command allows you to specify distances in any unit. For example, if you had a 4000 step/revolution
encoder as the master and wanted master units in terms of revolutions, then
SCLMAS
should be set to 4000.
As the master scaling factor (
SCLMAS
) changes, the resolution of all master parameter values and the
number of positions to the right of the decimal point also change (see table below). A master parameter
value with greater resolution than allowed will be truncated (e.g., if scaling is set to
SCLD4000
, the
FOLMD1.9999
command would be truncated to
FOLMD1.999
).
SCLMAS
(counts/unit) Master Resolution (units) Master Range (units) Decimal Places
1 - 9 1 0 -
±
999,999,999 0
10 - 99 0.1 0.0 -
±
99,999,999.9 1
100 - 999 0.01 0.00 -
±
9,999,999.99 2
1000 - 9999 0.001 0.000 -
±
999,999.999 3
10000 - 99999 0.0001 0.0000 -
±
99,999.9999 4
100000 - 999999 0.00001 0.00000 -
±
9999.99999 5
FRACTIONAL STEP TRUNCATION
If you are specifying master distance values (
FOLMD
), when the master scaling factor
(
SCLMAS
) and the distance value are multiplied, a fraction of one count may possibly be
left over. This fraction is truncated when the distance value is used in the move
algorithm. This truncation error can accumulate when performing several moves over the
specified master distance. To eliminate this truncation problem, set the master scale
factor (
SCLMAS
) to 1, or a multiple of 10.
Example: (refer also to the
FOLEN
examples, and page 16 )
The commands below are a subset of the set-up parameters for an application in which the axis is following
the Master encoder input at a 1-to-1 ratio.
SCALE1 ; Enable parameter scaling
SCLA25000 ; Set follower acceleration scale factor to 25000
SCLV25000 ; Set follower velocity scale factor to 25000
SCLD25000 ; Set follower distance scale factor to 25000
SCLMAS4000 ; Set master scale factor to 4000
FOLMAS1 ; Axis 1 using Master encoder input as master
FOLRN1 ; Set follower-to-master Following ratio numerator to 1
; (scaled by SCLD)
FOLRD1 ; Set follower-to-master Following ratio denominator to 1.
; This sets the ratio to 1:1 (scaled the SCLMAS).
; The actual ratio in counts = 25000 to 4000 = 6.25 follower
; axis counts per master count.
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