5.3 Configuring an axis
The NextMove BXII is capable of controlling up to 4 servo axes, depending on model. Axis numbering always begin at 0. For example, a four axis model has axes numbered 0, 1, 2 and 3. This section describes the basic setup for a single axis.
Note: The NextMove BXII is also capable of controlling up to 4 ‘virtual’ axes. A virtual axis allows most Mint commands to be executed as normal, with the virtual axis simulating position and velocity information for any motion performed. No physical axes are moved.
5.3.1 Selecting a scale
Mint defines all positional and speed related motion keywords in terms of encoder quadrature counts (for servo motors). The number of quadrature counts is divided by the SCALE factor 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 motor with a 1000 line encoder. This provides 4000 quadrature counts for each revolution. If SCALE is not set, a Mint 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 SCALE factor of 4000, the user unit becomes revolutions. The more understandable command MOVER=4 could now be used to move the motor four revolutions.
In applications involving linear motion a suitable value for SCALE 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.
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