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6-6 Operation MN1928
6.3 Configuring an axis
The NextMove ES is capable of controlling 4 stepper and 2 servo axes. This section describes
the basic setup for both types of axis. Commands typed in the Command window have
immediate effect - they do not need to be separately downloaded to the NextMove ES.
6.3.1 Selecting a scale
MintMT defines all positional and speed related motion keywords in terms of encoder
quadrature counts (for servo motors) or steps for stepper motors. The number of quadrature
counts (or steps) is divided by the SCALEFACTOR allowing you to use units more suitable for
your application. The unit defined by setting a value for scale is called the user unit (uu).
Consider a servo motor with a 1000 line encoder. This provides 4000 quadrature counts for
each revolution. If SCALEFACTOR is not set, a MintMT command that involves distance,
speed, or acceleration may need to use a large number to specify a significant move. For
example MOVER=16000 (Move Relative) would rotate the motor by 16000 quadrature counts -
only four revolutions. By setting a SCALEFACTOR of 4000, the user unit becomes revolutions.
The more understandable command MOVER=4 could now be used to move the motor four
revolutions.
The same concept applies to stepper motors, where the scale can be set according to the
number of steps per revolution. Typically , this would be 200 for a motor with a 1.8° step angle,
or 400 if driven in half step mode. By setting a SCALEFACTOR of 200 (or 400 if driven in half
step mode), the user unit becomes revolutions.
In applications involving linear motion a suitable value for SCALEFACTOR would allow
commands to express values in linear distance, for example inches, feet or millimetres.
1. In the Toolbox, click Setup, then click
the Parameters icon.
2. Click the Scale tab.
3. Click in the Axis drop down box to select the
axis. Each axis can have a different scale if
required.
4. Click in the Scale box and type a value.