Maho MH800e Retrofit Project

I decided to change the velocity it homes at from 1 to 0.1 and that made all the difference. It actually stopped and backed up the the home position. I am guessing that the little stutter I was witnessing was the motor attempting to reverse direction but failing causing it to continue to drift into the hard limit. I then tried that solution on the other axis but the knee decided to go all the way down to the hard stop so I need to figure out how to spin that screw back up off of it. Otherwise i think I have that all sorted. Just need to better figure out the PID tuning and whatnot. I pulled all the relavemt information from the machine constants of the old controller but I don't know if anything other than the max speeds will be relevant.

So can you walk me through getting the machine out of estop.
I have linuxcnc installed on a pc mounted in the machine connected to 7i97t, 7i74,7i84 and a 7i73. 3 heidenhain 602s wired to the 7i97t. just wired +10/-10 signals aswell and Im going through pnc config atmo, tring to figure out soft limit locations and directions for all axis.

So I'm not sure what you need to do for yours, but I had an issue with the pin out of the relay boards wiring. I fixed that and then needed to bypass the estop that was on my pendant as that will not be used anymore. Lastly I needed to press a button that enabled the drives and latched some of the relays on. I would need some .more info probably to help and more than that

I find little bits of time in the morning before work and whenever else I can squeeze out to the garage. I have gotten the machine to the point where it all homes properly granted very very slowly. It then moves to home position. Yesterday I designed a basic control panel for the monitor which I also got the touchscreen this week. I had enough time at to different points in the day to cut and then later bend up and partially assemble the control. Need a lot more time to wire it all up and change the program to use the 7i73 for the control interface. In the future I plan on adding 2 override encoders as well as an mpg either on the panel or on a pendant as well as 2 or 3 USB ports 

Got a bit more work done on the machines control panel. All of the buttons I currently want in it are wired in to the 7i73 so I just need to update the .hal file to use the new inputs on the button matrix. Still plan on adding buttons if needed as well as integrating my MPG and axis selector switch etc. to the panel but for now it is all wired up short of the drive enable and estop as that stuff is in the garage and I am in the house

You are making good progress. Once you have it all running, I will have to use your HAL and Ini to upgrade my machine to 2.9