To set scaling, you need to set scale numerator and denominator in SoMove or these parameters can be written through CAN.
By default, as you can see in the screenshot from SoMove, 1 revolution corresponds to 16384 (resolution of encoder) user units. So, for example, if one revolution correspond to 100 mm, than ScalePOSdenom has to be set to 100. Similar for velocity and ramp (acceleration).
By default, as you can see in the screenshot from SoMove, 1 revolution corresponds to 16384 (resolution of encoder) user units. So, for example, if one revolution correspond to 100 mm, than ScalePOSdenom has to be set to 100. Similar for velocity and ramp (acceleration).