User guide
196
6000 Series Programmer's Guide
Define the
Master and
Slave Scaling
Factors
(SCLMAS)
. . . .
if required
IF SCALING IS NOT USED (SCALEØ)
Servos
:
• Slave distance values are entered in the units of the currently selected feedback
device (i.e., the device selected with the SFB command).
Master distance values are entered in actual master counts (counts from the selected
encoder, ANI, LDT, or commanded position).
• Velocity and accel/decel units of measure depend on the feedback source selected:
Encoder feedback – revs/sec and revs/sec
2
(counts output per rev depend on encoder resolution set with the ERES command).
LDT feedback – inches/sec and inches/sec
2
(counts output per inch depend on LDT resolution set with the LDTRES command.
ANI feedback – volts/sec and volts/sec
2
(resolution is 819 ADC counts per volt).
Steppers
:
• Slave distance values are entered in motor steps if the motor step mode is enabled
(ENCØ), or encoder steps if the encoder step mode is enabled (ENC1).
If an axis is in the
Encoder Step Mode (ENC1), it cannot use its own encoder input as the master.
Master distance values are entered in motor steps if the master is the motor position of
another axis, or encoder steps of the master is an encoder.
• Velocity and accel/decel values are entered in motor revs/sec and revs/sec
2
,
respectively (the steps output per rev depend on the resolution setting—DRES).
Velocity and
Accel/Decel
Scaling
Velocity and accel/decel scaling factors for the slave are set with the SCLV and SCLA commands,
respectively. Refer to page 83 for details on using velocity and accel/decel scaling. The SCLV
and SCLA scaling factors should be set to the same value as the slave distance scaling factor
(SCLD) to establish common user units (e.g., distance in inches, velocity in inches/sec, accel in
inches/sec
2
).
Distance Scaling
It is useful to define master and slave multipliers so later programming can take place in user
units. The SCLD command defines the slave's distance scale factor, and the SCLMAS
command defines the master's distance scale factor. The Following-related commands that are
affected by SCLD and SCLMAS are listed in the table below. NOTE: Scaling must be
enabled with the SCALE1 command before these commands will have any effect.
Commands Affected by Master Scaling (SCLMAS) Commands Affected by Slave Scaling (SCLD)
FMCLEN:
Master Cycle Length
FMCP:
Master Cycle Position Offset
FOLMD:
Master Distance
FOLRD:
Slave-to-Master Ratio (Denominator)
GOWHEN:
Conditional GO
(left-hand variable is PMAS)
TPMAS & [ PMAS ]:
Position of Master Axis
TVMAS & [ VMAS ]:
Velocity of Master Axis
FOLRN:
Slave-to-Master Ratio (Numerator)
FSHFD:
Preset Phase Shift
GOWHEN:
Conditional GO
(left-hand variable ≠ PMAS)
TPSHF & [ PSHF ]:
Net Position Shift of Slave
TPSLV & [ PSLV ]:
Position of Slave Axis
As the distance scaling factor (SCLMAS or SCLD) changes, the resolution of all distance
commands and the number of positions to the right of the decimal point also change (see table
below). A distance value with greater resolution than allowed will be truncated (e.g., if scaling
is set to SCLD25ØØØ, the FSHFD1.99999 command would be truncated to FSHFD1.9999).
6270 users: shift the values in the “Distance Range” column one decimal place to the left.
SCLD or SCLMAS
(steps/unit)
Distance Resolution
(units)
Distance 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