diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index 3d6c16b58..54b60a702 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -1390,7 +1390,7 @@ def plan_cartesian_motion(self, waypoints, start_configuration=None, group=None,
         # =======
         # Scaling
         # =======
-        need_scaling = TOL.is_close(self.scale_factor, 1.0, rtol=1e-8)
+        need_scaling = not TOL.is_close(self.scale_factor, 1.0, rtol=1e-8)
 
         if need_scaling:
             waypoints = waypoints.scaled(1.0 / self.scale_factor)