Biesse Rover 336 retrofit 5i23-7i44-7i66 and 7i33TA

Just change the sign of the encoder feedback scale.

If that leaves the axis running the wrong direction, change the encoder scale back and change the sign of the PWM scale.

Is the motor connected to the axis? (It is probably best if it isn't at this point)

At a guess the system shuts down through following-error?

Is your PID active? How is it tuned? I am assuming velocity-mode servos here (I haven't read back through the previous messages). If that is the case, are the tachos working? Perhaps the tachos and motors have different polarity?

Yes there is and it works, always, but wee need much more information about the machine, wiring, hal and ini files etc.
Just went through this thread and noticed some issues, namely the PID values are way off. That means something in your ini/hal files is set up incorrectly or wiring is not properly done.
I did set up Yaskawa drives and they are very easy to tune with Linuxcnc ( about 5 minutes for 3 axis ).
Feedback from the encoders should go to the drives, drives have outputs that go to Linuxcnc. the loop has to be closed at the drive first, then Linuxcnc, otherwise the drive will not function properly.
This post took 3 hours to write !

Naas wrote:

Now i want to implement all the I/O operations (there are a lot of them on these machines).

Do i need to make a choice between classicladder and python, or are there some things where there is only one possibility?
How does all this tie in with the GUI and G-code?

Preferably in hal, as much as possible.
Using PyVCP is a nice choice.
Just my way of doing things.