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Hi, thanks! I've tried finding out where this went for the past couple of days and couldn't find it, you're a life saver. I haven't measured its accuracy but told it was used in a school and I belive this as of how ut looks.

If I get the time today I'll write a summary of everything I've done and some pictures

Should I try with motor only or put the belt back on (e.g. the lack of load - is it going to highlight the issue no)?

Negative init is for reversing direction of motion during init process. I tried setp bldc.0.rev 1 (I am not sure what does this do) but it seemed to me that the direction did not change.

Honestly it sounds like the initial angle is still not correct

You might try adjusting the offset by small increments
and checking how high you can set the D term

Also the negative init current seem strange

Another possibility is checking whether raising the servo
thread rate (to say 4 KHz) helps

Hallo Aciera, der Taster muß natürlich angeschlossen sein.
Aber erst mal den Text löschen...

ich bekomme  den eingefügten Text nicht gelöscht..

Hilfe

Most recent RIP from GIT and QTDragon_hd.

Thank you, Peter.

I don't really know how LCNC and Ethercat work behind the scenes, but I suspect it doesn't matter if you use analog, step/dir, or Ethercat to command the spindle/C-axis.

Have you done any testing yet?  If not, maybe you should have a go at it - just a single Ethercat servo on the bench to fiddle with.

Is there a flyback diode across the relay coil?

Not a Mesa issue.
Wiring/shielding/grounding issue.

And what version of linuxcnc?

What screen are you using?

you made my day. It works now. Is a bit misleading that PNCconf wizard was defining the GPIO stuff.

The pin for the inverted state would be 'hm2_7i76e.0.7i76.0.0.input-29-not'

I did this already, The joint.2.home-sw-in is in this case on and the aches will not move.

Try and use the pin 'hm2_7i76e.0.7i76.0.0.input-29' in your hal instead of 'hm2_7i76e.0.gpio.029.in_not'