Setting up Servos in step/dir position mode

Hey dudes.
I'm trying to migrate a setup with steppers to a machine with servos. First of all, I have tried to work without touching anything and the servos move, the directions are correct, etc. but they move at a very low speed. I understand that I have to modify parameters in the INI and HAL file, I thought it would only be to adjust the new values ​​of stepscale and little else but reading around here I see that many more things interact like PID, FF'S... and before touching anything I would like to know well that, the truth is I'm quite lost, this servo thing is completely new to me. The servos are DMM DYN2 in position mode step/dir with Mesa 5i25 + 7i76. I attach basic INI and HAL files to work with.I don´t know if itis a good idea to work from a configuration from steppers or if would be better to make a totally new config with thePncconf Wizard.

Step/dir servos are setup exactly like stepmotors/step drives,
You do not need to change any PID setting unless you are using
encoder feedback to LinuxCNC,

Is stepscale correct? (do the axis move the correct distances?)

160 steps per mm seems small for something like a mill or lathe.

So it's just like I thought, only modify step scale according to servo's parameters.
No, stepscale is not correct, it must me something like 2000 (10000pulse per rev/ 5 mm ballscrew pitch).
Being the encoder integrated in the driver I could have feedback to LinuxCNC?

Thanks.

You can have encoder feedback but its probably more
trouble than its worth unless you have feedback from
linear scales

Understood Peter, thank you very much for the info.
I must be missing something in math, if I apply gear number (electronic gear reduction) = 2500 * 4 = 10000 pulses needed to rotate 1 revolution, if the ball screw pitch is 5 mms, then Stepscale should be 10000 / 5 = 2000, right?
Putting this value in the INI file, I get the following message:
"hm2 / hm2_5i25.0: Stephen.00.maxvel is too big for current step timings & position-scale, clipping to max possible"

Hey Tommy, how are you doing? then the math is ok. What exactly does that imply? I guess I can cut that number in half.

Yes, you would have to reduce the step time and step space to reach your requested velocities with the current step-scale. With a steptime and stepspace of 5.050 usec, the maximum steprate would be about 99 KHz but the requested stepgen velocity of 50 mm/sec at 2000 steps per mm needs a 100KHz step rate.

PCW wrote:

Yes, you would have to reduce the step time and step space to reach your requested velocities with the current step-scale. With a steptime and stepspace of 5.050 usec, the maximum steprate would be about 99 KHz but the requested stepgen velocity of 50 mm/sec at 2000 steps per mm needs a 100KHz step rate.

Are they reduced following some reasoning, I don't know if they maintain a numerical relationship, or am I lowering the values in trial and error mode?

And on the other hand, using the feedback of the encoder without scales, I understand that it would not solve in any way the possible mechanical backlash that the machine may have.

Thank you guys very much, reading you is always learning.