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6250 Servo Controller User Guide

Scaling

The scaling commands allow you to scale acceleration, deceleration, velocity, and position to

values that are appropriate for the application. The SCALE, SCLA, SCLV, SCLD, PSCLA,

and PSCLV commands are used to implement the scaling features. Note that scaling only

applies to encoder values. If using ANI feedback (6250-ANI only), scaling does not apply.

NOTE

To maximize the efficiency of the 6250's microprocessor, the scaling multiplications are

performed when the program is defined or downloaded. Therefore, you must enable scaling

(SCALE) and define the scaling factors (SCLD, SCLA, SCLV, PSCLA, PSCLV) prior to defining

(DEF), uploading (TPROG), or running (RUN) the program. This can be accomplished by

defining all scaling factors via a terminal emulator just before defining or downloading the

program; you should also put the scaling factors into the startup (STARTP) program.

Default: Scaling is

Disabled

The default condition of the 6250 is with scaling disabled (SCALEØ):

❏ All programmed acceleration and deceleration values are entered in encoder revs/sec

; these

values are internally multiplied by the encoder resolution (ERES) value to obtain acceleration

and deceleration values in encoder steps/sec

for the motion trajectory calculations.

❏ All programmed velocity values are entered in encoder revs/sec; these values are internally

multiplied by the encoder resolution (ERES) value to obtain velocity values in encoder

steps/sec for the motion trajectory calculations.

❏ All distance (D and PSET) values are entered in encoder steps; these values are internally

represented as encoder steps.

Acceleration & Deceleration Scaling (SCLA/PSCLA)

If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by the

acceleration scaling factor (SCLA) to convert user units/sec

to encoder steps/sec

. Acceleration

scaling affects the following commands: A, AA, AD, ADA, HOMAD, HOMADA, JOGA, JOGAA,

JOGAD, JOGADA, JOYA, JOYAA, JOYAD, JOYADA, LHAD, LHADA, LSAD, and LSADA.

Path Scaling: If you are using the 6250's linear interpolation feature, the PA, PAA, PAD and

PADA commands are affected by the path acceleration scaling factor (PSCLA).

As the acceleration scaling factor (SCLA/PSCLA) changes, the accel/decel command's range

and its decimal places also change (see table below). 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/PSCLA Value Decimal Places Max. Accel/Decel Min. Accel/Decel (resolution)

1 - 9

10 - 99

100 - 999

1000 - 9999

10000 - 99999

100000 - 999999

999.9999 x ERES

SCLA

0.001 x ERES

SCLA

Velocity Scaling (SCLV/PSCLV)

If scaling is enabled (SCALE1), all velocity values entered are internally multiplied by the

velocity scaling factor (SCLV) to convert user units/sec to encoder steps/sec. Velocity scaling

affects the following commands: V, HOMV, HOMVF, JOGVH, JOGVL, JOYVH, and JOYVL.

Path Scaling: If you are using the 6250's linear interpolation feature, the PV command is

affected by the path velocity scaling factor (PSCLV).

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Calculated Industries 6250 Guide de l'utilisateur Page 54

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