Analog servo drive enable

If the motor move slowly by itself when enabled, that suggests that the PID
loop is not closed.Does LinuxCNC's DRO read correctly?

Hi Peter ...

YES .. the DRO read correctly

I think what he is referring to is the dro counts positive value in the positive direction. Does the motor also spin in the correct direction?

After you have the drives auto tuned they should be relatively stable with a low P value in Linuxcnc ini file. All other values in the linuxcnc ini file for axis tuning should be 0, at least until you get started.

Well .. as you seen in the screen attachments ..

when :
motor CW : => X + direction
motor CCW : => X - direction

also attach the ini file
the motor keep moving even not enabled , once i enable it get very fast short rotate and then get joint 0 following error ..
So I do not know what is the problem ...and as PCW said may be the loop not complete ... but I don't know how to verify .... I think the encoder feed back is correct ...

A fast short movement when first enabled suggest the the feedback is
backwards (the fix is to change the sign of OUTPUT_SCALE)

Actually I changed the OUTPUT_SCALE signal , but not difference ...
Peter ... Yesterday you told me may be the loop is not closed ... [ How can I verify that ] ??
- The Encoder feedback is ok as per the screen shoot i attached
- The drive enable also working properly .

So anything else I have to check it , to stop the slow rotation of the motor before enable ... ?