User guide

86 6000 Series Programmer's Guide
Scaling Examples
Steppers
Axis #1 controls a 25,000 step/rev motor/drive system attached to a 5-pitch leadscrew. The
user wants to program motion parameters in inches; therefore the scale factor calculation is:
25,000 steps/rev x 5 revs/inch = 125,000 steps/inch. For instance, with a scale factor of
125,000, the operator could enter a move distance value of 2.000 and the controller would send
out 250,000 pulses, corresponding to two inches of travel.
Axis #2 controls a 25,000 step/rev motor/drive system with position feedback from a 1000-
line encoder (4,000 steps/rev post quadrature). This axis is using a 10-pitch leadscrew. This
axis will be positioned exclusively in the encoder step mode. The user wishes to program
motion parameters in inches; therefore, the scale factor calculation is:
4,000 steps/rev x 10 revs/inch = 40,000 steps/inch.
ENC01 ; Use motor step positioning for axis #1,
; Use encoder step positioning for axis #2
SCALE1 ; Enable scaling
DRES25000,25000 ; Set drive resolution to 25,000 steps/rev on both axes
ERES,4000 ; Set encoder resolution to 4,000 steps/rev on axis #2
SCLD125000,40000 ; Allow user to enter distance in inches (both axes)
SCLV125000,40000 ; Allow user to enter velocity in inches/sec (both axes)
SCLA125000,40000 ; Allow entering accel/decel in inches/sec/sec (both axes)
Servos
Axis #1 controls a 4,000 count/rev servo motor/drive system (using a 1000-line encoder)
attached to a 5-pitch leadscrew. The user wants to position in inches; therefore, the scale factor
calculation is 4,000 counts/rev x 5 revs/inch = 20,000 counts/inch. Half way through the
motion process, axis #1 must switch to ANI feedback for the purpose of positioning to a
voltage (scale factor is 819 counts/volt).
Axis #2 controls a 4,000 count/rev servo motor/drive system (using a 1000-line encoder)
attached to a 10-pitch leadscrew. The user wants to position in inches (scale factor calculation:
4,000 counts/rev x 10 revs/inch = 40,000 counts/inch).
SFB1,1 ; Select encoder feedback for both axes
ERES4000 ; Set encoder res to 4000 steps/rev (post quadrature)
SCALE1 ; Enable scaling
SCLD20000,40000 ; Allow user to enter distance values in inches
SCLV20000,40000 ; Allow user to enter velocity values in inches/sec
SCLA20000,40000 ; Allow user to enter accel/decel values in inches/sec/sec
SFB2 ; Select ANI feedback for axis #1
SCALE1 ; Enable scaling
SCLD819 ; Allow user to enter distance values in volts
SCLV819 ; Allow user to enter velocity values in volts/sec
SCLA819 ; Allow user to enter accel/decel values in volts/sec/sec
SFB1,1 ; Select encoder feedback for both axes (prepare for motion)
Hydraulic Control
Axis #1 controls a 4,000 count/rev servo motor/drive system (using a 1000-line encoder).
Attached is a 5-pitch leadscrew that the user wants to position in inches (4,000 counts/rev x 5
revs/inch = 20,000 counts/inch scale factor).
Axis #2 controls a servo valve and hydraulic cylinder using position feedback from an LDT
with a gradient of 9.0227 µs/inch, and 2 recirculations. The user would like to program in
inches (432 LDT counts per inch x 2 recirculations = 864 counts/inch scale factor).
SFB1,3 ; Feedback devices: encoder for axis 1, LDT for axis 2
ERES4000 ; Set encoder res to 4000 steps/rev (post quadrature)
LDTGRD,9.0227 ; Set LDT gradient to 9.0227µs/inch
LDTRES,864 ; Set LDT resolution to 864 (accommodates 2 recirculations)
SCALE1 ; Enable scaling
SCLD20000,864 ; Allow user to enter distance values in inches
SCLV20000,864 ; Allow user to enter velocity values in inches/sec
SCLA20000,864 ; Allow user to enter accel/decel values in inches/sec/sec