Koike Aronson Plasma Conversion - sanity check on Mesa board selection?

If the DC motor still has the original encoder, then its 5V differential with 500ppr.

How does scale come into play for velocity mode servos?  I see multiple different Scale callouts between the .ini and the Hal files.

From JT's configurator tool, in the .ini there are these values which I currently have defined as:
Scale for drives = 10
Analog Scale Max = 10
Analog Min Limit = -10
Analog Max Limit = 10
Encoder Scale = -634.92 (this one I understand, although might need a double check on the value. Calculated based on 500 ppr with .7875" in per rev of servo)

In the main.hal file, I only see this line referencing SCALE, which I assume to be the scale for drives listed above.  
setp hm2_7i97T.0.pwmgen.00.scale [JOINT_0] SCALE

I also have seen Output Scale referenced in other posts, is this the same as Analog Scale Max?

I set the PWM frequency to 75000 and enabled dither.

Thanks for the help

For analog velocity mode servos you can leave the scale at the default value/range (+-10V)
or you can set it so that the PID settings are all in engineering units. To do this, you set
the scale/range to the velocity in machine units per second your axis move at 10V.
This means that  now the PID output is scaled directly in velocity. This also means the FF1
value is known (1.00)

Thanks, that makes sense to me.  I think for now it makes sense to keep the PID values in voltage.  However, I'm still confused on the difference between Scale and Analog Scale Max.  Should the number be 10 for both if the PID is in voltage rather than velocity.

You would need to look at the hal and ini files to see how those constants are used
(some may not even be used, as there's normally a lot of "boilerplate" in hal/ini files)

Looking for some guidance on best practice for Servo Enable for the 12A8 servo drives.  The original control has an AC transformer that sends 50V AC to a PCB that contains a rectifier bridge for DC voltage, has the connectors for the motors and tach signals, an interface for the -10/+10V control signals, as well as 3 relays.  One relay for the inhibit circuit for each drive and one to connect the DC drive voltage to the servo drives.  However, all three relays are driven by one 12V control signal.  I was hoping to reuse the existing power supply and pcb and plan to interface with it via the Mesa 7i97T.    From what I've read though, you cannot have two output signals connected to one physical pin, for example X Servo and Y Servo enable both driven by X servo enable circuit.  

Here are the options I'm considering:
1. Wire both enables from X and Y to the 12V relay, not sure if this would cause issues on the Mesa board if for some reason one servo was enabled and the other was not. Although, from reading the 7i97T manual, it seems like the enables are all switched in common?
2. Bypass the circuit board for enables and go straight to the drives with the enable circuit  (However, I would still need to enable the relay to connect drive power, so not sure which signal I could use for this.)  Perhaps I could make a new signal that would send 12V from the Mesa board if either of the X or Y drive enable commands are enabled, or route this to the estop switch and control it outside of the 7i97T.
3.  Any better ideas?