Bosch 6000 User's Guide download pdf (Page 98)

Chapter 3. Basic Operation Setup

Axis Scaling

FOLLOWING:

Use the SCLMAS

command to establish a

distance scale factor for

the master axis. Refer to

page 196 for details.

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

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

PSCLV, and PSCLD commands are used to implement the scaling features.

Scaling is disabled (SCALEØ) as the factory default condition (exception: enabled for the 6270):

• Steppers: When scaling is disabled, all distance values entered are in motor steps (ENCØ

mode) or encoder steps (ENC1 mode), and all acceleration and velocity values entered are

internally multiplied by the DRES command value.

• Servos:

Units of Measure (per feedback source)

Motion Attribute Encoder Resolver ANI LDT

Accel/Decel Revs/sec

* Revs/sec

* volts/sec

Inches/sec

Velocity Revs/sec * Revs/sec * volts/sec Inches/sec **

Distance Counts (

steps

) *** Counts (

steps

) *** Counts (

steps

) *** Counts (

steps

) ***

* All accel/decel & velocity values are internally multiplied by the ERES command value.

** All accel/decel & velocity values are internally multiplied by the LDTRES command value.

*** Distance is measured in the counts received from the feedback device.

When Should I Define Scaling Parameters?

To maximize the efficiency of the 6000 product's microprocessor, the scaling multiplications

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

(SCALE1) and define the scaling factors (SCLD, SCLA, SCLV, PSCLA, PSCLV, PSCLD)

prior to defining (DEF), uploading (TPROG), or running (RUN) the program.

Users of serial products should put the scaling factors into the startup (STARTP) program.

Users of bus-based products should put the scaling factors into a setup program that must be

run prior to defining or downloading any other programs. Regardless of the product type,

scaling factors could be defined via a terminal emulator just before defining or downloading the

program.

Servo Products

Scaling can be used with all feedback sources: encoders, internal resolvers (615n only), ANI

inputs (-ANI option only), and LDTs (6270 only). When the scaling commands (SCLA, SCLD,

etc.) are executed, they are specific only to the current feedback source selected with the

last SFB command.

If your application requires switching between feedback sources for the same axis, then for

each feedback source, you must select the feedback source with the appropriate SFB

command and issue the scaling factors specific to operating with that feedback source.

For example, if you have two axes and will be switching between encoder and ANI feedback,

you should include code similar to the following in your setup program:

SFB1,1 ; Select encoder feedback (subsequent scaling

; parameters are specific to encoder feedback)

SCLA4ØØØ,4ØØØ ; Program accel/decel in revs/sec

SCLV4ØØØ,4ØØØ ; Program velocity in revs/sec

SCLD4ØØØ,4ØØØ ; Program distances in revs

SFB2,2 ; Select ANI feedback (subsequent scaling

; parameters are specific to ANI feedback)

SCLA819,819 ; Program accel/decel in volts/sec

SCLV819,819 ; Program velocity in volts/sec

SCLD819,819 ; Program distances in volts

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Bosch 6000 User's Guide Page 98

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