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I have also speed mode servos tuned
with p and ff1 so cruise ferror is 0
but at the start - stop i have ferror spikes.
How to guess initial ff2 value?
What else can i do for start-stop ferror?

Problem: "looks 50% too large" seems to get bigger over time (with every project), but the rule still seems to hold water at the end.

I love the temp wiring stand. I will definitely use it going forward.

What io's do you think you are missing?

I notice that your digital in and digital out are empty. I had to use this to control my tool changer, pnumatic gripper, and to read spindle & tool changer sensors. It is how the O-code program can control the outputs and check the inputs.

I linked my door lock to some classic ladder pins.
Ex: "net door-open classicladder.0.in-01 => hm2_7i97.0.7i84.0.0.input-00"

The sserial seems like it might be right. Check to see if you can see the 7i84 pins in halshow. I had to expand pins > 7i97 > 0 > then I could seen the 7i84. If it doesn't work try replacing the XXXXX with zeros to become "sserial_port_0=00000000" It is what works for my 7i97T + 7i84 setup.