Mesa 7i76e, CL57Y, and Hybrid Stepper Motor Issues

Hello Everyone,

Setup:

• Dell Optiplex 9020 SFF (Debian Buster w/ LinuxCNC 2.9 Installed)
• Mesa 7i76e w/ 24V power supply ( Link to Manual under specifications)
• Nema24 4Nm Hybrid Stepper Motors (Stepperonline 24HE40-5004D-E1000 )
• CL57Y Stepper Servo Drivers

I've setup my Mesa 7i76e using eman5oh's 7i76e Quick Setup guide. I'm able to Ping the device and show the system properties using,

• +24V -> TB1-5, TB3-22
• GND -> TB1-8, TB3-23

From the CL57Y Stepper Servo Driver to the Mesa 7i76e device I've made the following connections:

• PU+ -> TB2-3 (Yellow)
• PU- -> TB2-2 (Green)
• DR+ -> TB2-5 (White)
• DR- -> TB2-4 (Blue)
• MF+, MF-, ALM+, and ALM- are left unconnected.

All power and encoder connections between the CL57Y and the Nema Motor are assumed to be correct, (slight chance the A+, A-, B+, and B- wire pairs are oriented wrong. I've checked continuity between pairs of wires, but grouped pairs might need to be flipped)

Problem:
While attempting to jog the device through the PnCConf Wizard's Test / Tune Axis (using the default velocity and acceleration values) the motor shakes/vibrates violently then stops thereby giving a positional alarm on the CL57Y device.

Questions:

• Do I have the correct wiring setup? If so, what corrections that need to be made?
• Do the MF+, MF-, ALM+, and ALM- signals need to be connected to Mesa 7i76e device? If so, how do I connect them given the STEP and DIR connectors only have [GND, STEP-, STEP+, DIR-, DIR+, +5VP]?
• Is this issue a software or hardware problem?

Thank you for your help in advance. I'm a beginner when it comes to electrical hardware.
Cheers

Wiring is correct and is how I have my driver wired. Mine are open loop though.

MF is normally left unconnected.
ALM you would use if you wanted to know if your motor generates an error status. For basic testing don't think you need to bother.
Looks like you are not using the feedback

Assume you have the encoder connection of the motor hooked up?

Things to check would be:
- Pulse lengths for the drivers Step and Direction signals. Make sure you have some buffer. Spec says 2.5uS. I have the same spec and set Step at 5uS and the Dir signals at 8uS. Seems to work well.
- when doing the tuning turn the speeds/accelerations right down to start with, if you have not already done that.

Just some ideas from the couch.

Yes I do have the encoder connected (As far as I can tell, its each wire is in its proper terminal on the CL57Y).

Could you point me to an article describing how to turn down the STEP and DIR pulse lengths and/or talk me through it?

when you work your way through pncconf you get to the screens where you define the axis motor setup. The sample place that has the motor tuning buttons on it. You will see the fields relating to the Step and Dir values. There is a drop down for the type of driver you have. Assuming your model is not listed you pick "Custom" and enter the values you want. I think the defaults might be either 5000 or 10000 (i.e. 5uS and 10uS).