Setting up Servos in step/dir position mode

If it seems that the problem comes from the mechanics. I have realized that it would be very useful and interesting to take the Alm signal that the drivers have to connect each one to an input of the 7i76 and in case it happens for any reason to know which driver has failed and all the machining stops, at least the pieces won't be ruined, I hope. Looking at HAL I have found the pin joint.x.error, which I am not sure at all is if I am right and it would indeed be that pin where to link the alarm signal or how to do it exactly.

2.8 and 2.9/master have a pin just for that,
Amp.0.fault
Not sure about the name, i am on the phone, but i have them in use and it works properly stopping the machine and displaying the error about the exact drive that faulted.

joint.x.amp-fault-in you mean? There is another one called joint.x.amp-enable-out and their default values are opposite which makes me think that they work together and that I can link a signal to the ENA pin of the drivers as well and thus complete the security, making some buttons (amp-enable-out) and status LEDs (amp-fault-in) in the UI to identify the driver that fails and be able to reset it with the button. Let's go for it!

RoberCNC wrote: joint.x.amp-fault-in you mean? There is another one called joint.x.amp-enable-out and their default values are opposite which makes me think that they work together and that I can link a signal to the ENA pin of the drivers as well and thus complete the security, making some buttons (amp-enable-out) and status LEDs (amp-fault-in) in the UI to identify the driver that fails and be able to reset it with the button. Let's go for it!

Yes and yes.
Sorry for the short replies ...

Don't worry Tommy, often less is more . I've been messing around the weekend and it works, now I just have to put in some 5v relays that pick up the signal from the drivers to pass the 24v to the 7i76.

The next thing I'm going to get into the world of backlash but that's better in another topic in case I need your help and knowledge (which I will surely need).