7i33 servo loop tuning error

yes. I know that. I wanted to see how it works first without loads just in case I would make a stupid mistake.

I have another question about servo tuning:
The junus amplifier can be controlled by analog +-10v which works now with the 7i43 and a 7i33.
It could also be controlled by PWM signal. There is two mode:
1. PWM+DIR where the PWM varies from 0 to 100% and a DIR pin goes high or low for direction control.
2. PWM only where the PWM varies from 0 to 100%. values over 50% are seen as positive values. Values under 50% are seen as negative speed values.

I have connected the amplifier signal directly to the 7i43 and created some configuration to try it.

When I tried a configuration with PWM type1 or PDM and use the PWM+DIR config of the amplifier. The motor went crazy when I start to move it. I don't know why. I have tried to change the coder and motor sign without success.

I tried a configuration with PWM type0 and use the PWM only mode with the amplifier. It works ok except that when I start a move after I push the F2 button the motor moved a little bit in an awkward way. After that slight move the offset is off by around 1mm so I have a 1mm error. If I move after that there is no problem. The motor turns smoothly and does the right move except that the machine position is still off. If I command a G1 x10 f400, the machine will go to x11then If I command a G1 x15 f400, the machine will go to x16. The movement are precise. I can eliminate this problem by doing a homing after I push the F2 button but it means that I have to home that axis each time I put the machine on and off with F2.
I have attached a capture of what is happening when I push the jog button right after I turned the machine on with F2.
any idea?

Thank you.

Hi. I have fixed it using the bias parameter.
bye.