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Update: I've tryied not disabling the servos on E-Stop, they jerk anyway. My guess is that the tuning is probably constantly applying some torque and it gets released as soon as the loop stops

PCW wrote:

MPG1-A 7I96S IN0
MPG1-B 7I96S IN1
MPG2-A 7I96S IN2
MPG2-B 7I96S IN3
GND 7I96 IN COMMON

This does mean the other 7I96S inputs are sinking inputs
(pull high to activate)

quick sanity check, first time looking at the 7i96s, if an MPG is connected to IN1,2 and is a 5v mpg, do the remaining inputs need to be 5v also or can they be 24v? ie is mixing voltages ok here?