Encoder Feedback

Hi ..

1. I Have a 7i76e+7i85s , mesa cards , setup and flashed ok , trying to use my delta servo drive and motor as the attached images ,
2. I did the wiring as position control (step and DR) .
3. I have a difficulty to setup the encoder output , always I get [ joint 0 following error ] also I did not see the encoder output on the hal oscilloscope !

I attached the hal and ini files also the driver and motor
Need advice please …
Thanks
Hamel

Encoder 0 would be on the 7I85S

Hi Peter ,,
Thank you for quick reply ,
then what is the no. of the encoder in 7i76e card ?

4

Encoder wiring change as per the img .
I have 3 phase encoder output (shown in the img with connection) ,...
(when I rotate the motor shaft by hand ,the encoder show moving signal )
but still I got joint following error , and both signal from the encoder are negative , try to swap the wires .. I got bot +ve ...
I do not know who to manage ...

Is the encoder position correct (scaled right and in the proper direction)?

No ... when the driver enable it shows negative in both motion direction (X+ , and X-) ...for very small movement then show joint following error .

But when I disable the driver ,and rotate the shaft with by hand shows
+ when moving CCW , and - when moving CW

So you are saying the encoder position moves in a more negative direction
when the servo moves in either direction?

exactly

OK That sounds like an electrical noise issue
Do the drive and 7I76E/7I85 have a common ground?