Analog servo drive enable

Running away like that points to reversed feedback

Does it runaway with P = 0?

I have one more question ...
How is the analog signaling from 7i77 at drives [0-5] (AUT0 , GND)
is it differential? or single ended ?
ie :
AUT0 => -10 to +10 V
GND => 0 V
or
AUT0 => +10 V
GND => -10 V

7I77 outputs are single ended.

I noticed that , and I did the single ended wiring ... but still I was not able to do the PID tuning, I attached the hal and ini file.
I always get joint following error … just once I click jog … I got the servo spinning for a while then I got Joint following Error ..

Try setting FF1 to 0
Then it should just drift when enabled and ignore any jog
( FF1 = 1 is _way_ too high)

Then set P to a very small value (say .05)
and see if the motion tries to follow the command
when jogged or runs away

Peter .... You rock
It works very well ....
Thank you very much