hurco hawk 30 retrofit

Its Rotary encoder in the servo. Motor and ball screws are connected through pulley.

Not sure what it could be other than some kind of encoder or encoder interface issue

Is the error once per turn or some specific distance between jerks?

encoder.0.position might be useful too. (the "ringing' in the velocity is probably real, but the step change is suspicious.

How many encoder counts is it between jerks?

Hi
One important information . Encoder ground from Yaskawa drive can not be connected to MESA encoder ground . This connection causes analogue signal to short out . I am not sure Why . So all encoder works without ground from Servo .Can this cause this?.
Any body from MESA here can throw some light.


This is the encoder connection recommendation from Yaskawa



Regards
Riaz

Sounds like you have the 7I77s analog out connected to the drives ground
(input common)

So shorting happens inside MESA? Card is 7i97