YASKAWA SERVOPACK Speed-Control instead Postion Control

@ehb
So do you know your encoder is 12-Bit or 15-Bit on the Yaskawa Output?
I think is 12-Bit?

Hi nighteagle,

sorry for not chiming in lately.
I've wired up the drives now and left all encoder jumpers on the 7i77 in stock position. Didn't change a thing and it all works very nicely!

I will get back to you once I checked what I entered in pncconf. I think it was 4000 pulses per revolution plus the ratios of belt and spindle that made me come up with an ENCODER_SCALE (in .ini file) of about 640.

If you want, you can post an email address and I'll send you my phone number. We could talk it through (in german ) while both being in front of the machines.

@ehb
My machine have direct-drive the axis - it is a satellite-spindel system.
Yesterday evening i have test over mesa and after F1 i have press F2 to acticate the yaskawas and i have an error on one of it - it is a problem of one of the servos - last week i have changed the ic's of the encoder because it looks like a encoder problem - but then i have replace the encoder with one of the other working motors - and have the same error "C" it can be the motor itself - but i measure all is okay - so i think some problems with cable.. but all looks okay - i have to check where the problem is. My last week was an Ghost-Buster week - i thought it was encoder but not - it was an error-ghost. One week lifetime gone...

But what i see is linuxcnc shows me error on joint 1 and the error is on x-axis that mean joint 0 - so looks like something is wrong in ini or hal-file. Connection on MESA is correct...
 

@andypugh

Thanks for the explanation -
I suspect it is a bad datasheet - no one use this terms to give information of jumper-configuration. Normaly you have a logic-table for such settings.
Also the Pin 1 of each of the TB1-5 is on the opposite so this all is confusing . and the drawing in the datasheet is so bad quality... but okay...this is all offtopic.

So if i'm right if the Jumper configuration is like the image from the datasheet then the Encoder are set to Diffential-Mode?