Mesa 7I77 and Milltronics mill wiring

Servo's on left, controller on right.

yes, sorry, that's how it should be.. the encoder goes to the controller.. are there physically on the driver, apart from the input for the tacho 1-3 1-4, some two wires for the analog input somewhere?.. also does that old controller work at all, maybe jogging? there should be a pair of analog input wires on the driver.it seems to me that 1-1 is a common gnd.. and that 22 are + analog output... it just bothers me why it goes through the relay.. if the machine is already working, i would try to measure the voltage between 1-1 and 22

or maybe is 1-1 +analog input on driver..have no idea:(

So 22 is the ground plain, and the drives do not use individual enables as there is a system master enable. What concerns me is that it looks like on e-stop the relay pulls all the analog signals to 0, won't that short out the analog output of the 7i77 ( if it was at a positive voltage move?

Would you run the analog signal through the enable pins so the if the e-stop was pushed the analog signal would disconnect from the drives or does the 7i77 disconnect the analog signal on estop internally?

You could possibly damage the 7I77 card if you shorted all analog
outputs at once

If the analog enable hal pin is false, the 7i77's analog outputs are all set to 0V.
This and the drive enable(s) are the normal way motion is disabled when LinuxCNC
is not running or after a fault.

It's important that the  global drive enable s is controlled by LinuxCNC,
so the the drives are not enabled until LinuxCNC is running and the position
feedback loop is closed, otherwise the drives may drift slowly.