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can you please elaborate on copying the files over? I moved private_data.py over but wasnt able to move the pncconf.py to the pncconf folder

Hi everyone,
I seek help in commissioning a Motor with a Beckhoff Ax5000 series drive within TwinCAT to then transfer that tested setup to linuxcnc-ethercat. I cannot for the life of me get that motor to run over.
Setup:
Motor: HarmonicDrive LynxDrive-20C-100-MEE-AO (reduction 100, MEE Encoder (Heidenhain EQN-1125 Endat 2.2/2.1), motor values are known, commutation unknown)
Driver: Beckhoff AX5206-0000-0203 Fw 1.06
Goal: Be bale to move the drive from NC in Twincat to check for functionality of the setup
What did I try:
- Scan Bus in TwinCat to find devices
- Found the Driver
- Setup of power management, safety (off), set mode for channel 1 to position control
- Setup Channel 1: X11 for encoder connector, selected Heidenhain EQN1125 from list, manually setup the motor with relevant values (pdf: harmonicdrive.de/fileadmin/user_upload/E...8856_08_2018_V04.pdf, page 17)
    When I try to scan for the encoder it identifies as Endat 2.2 without a nameplate. However, when selecting an Endat2.2 from the list of encoders, it does not work. (0xF148: Build drive system: unknown feedback system)
    Question: I assumed that this table takes the values for the motor and not for the output shaft (which is behind the harmonic drive's reduction), correct?
- Setup of scaling
     Question:  Here I am not sure. To me it makes the most sense to set this up for the motor shaft (as this is where the encoder is). I.e. 360°/motor revolution (see screenshot) - correct?
 
Next would be to setup the commutation setup (mechanical and electrical offset).
This is where I struggle.  The manual (www.beckhoff.com/en-en/download/61857533) states two different chapters regarding commutation:

1) Chapter 9.1.4 Third-party Motors
Step one asks to ensure motor rotation: The output shaft is connected to the HD. Given a reduction of 100 it is really difficult to backdrive the thing. Question: Am I correct in assuming that the HD reverses the direction of rotation? that is: if the servo motor moves CW, the output moves CCW?
Next step is the electrical commutation offset determination.
I tried to follow page 168ff using P-0-0166:
I get values after starting the command, with equal directions being "No". Changing U and V accordingly changes direction of the motor, but has no effect. I cannot get a constant value. I keep chasing my tail around.
Note: At this point P-0-0150 Commutation Node is set to 3; Adjustable commutation offset (mechanical) is 0 deg

I then followed chapter
Manual 9.6 list commutation methods (p 201ff)
Accordinglx, P-0-0160 is executed first
Regardless of the actual value of P-0-00578 (Electrical commutation offset) I get a value for the mechanical commutation offset which I enter in P-0-0150 above.
Doing so, an flipping the polarity of UV, I then get the following result for P-0-0166: Equal Directions: yes; Offset: 357.55 deg
 
I do not understand what way is the correct way. Accordingly, I am not sure if the offset is correct.
Now I undertand I should be able to move th eaxis using NC-A: Online (image 3)
 
I can enable the drive and it does start to make light noises and one can feel light vibration on the output shaft.
However, when I send a command using F2/F3 I get an increase in following error and nothing moves. (Image 4).
 
Parameters of the axis enc are as indicated by image 5.
 
I assume something in scaling is borked and thus the PID cant work properly. But I cannot find anything that is missing.

- I have checked (to the best of my ability) the polarity and pins for both the power and the encoder connector. At this point I assume that these are correct.
- I have manually pulsed the motor with a low dc voltage, It then performs the expected jump. The encoder provides a new value afterwards as well.
I am open for any and all advice. It must be sooo close.
Thank you!