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Yes the encoder must be serial, I found these motors for €190 each, I will try to lower the price they are 400 watt battery-powered absolute encoder 131072 pulse... I tried to set it in the drive and it is in the list.

Use it?
Use the hal file from here as starting point to get the servos going.
github.com/dbraun1981/hal-cia402/tree/main/example
 

You have not solved anything. If you want to use cia402 devices and the component, you need to read all at the beginning of the servo thread and write all at the end of it.

My thought is you have blindly copied a config. This is not plug and play, you need to build a config to suite your devices.

jimboh2 wrote:

Thanks rodw, I had ordered a DM542 from Steppersonline and it arrived today. Even with the 24v and 270OZ stepper and DM542 set at 3A I now have plenty of torque. Problem solved. I guess the TB6600s weren't up to the task.
Great to hear. I really don't know why people ever recommend TB6600's. They have been known to be cr@p for years.

There is more on the table yet! Have a look at the green and red lines here showing the torque difference between 24v and 48v for a 3.2 amp nema 23 stepper
www.moonsindustries.com/p/nema-23-standa...0-000004611110011244
 

The temperature rise was a max of 60 deg C (40 deg in the graph) so still at a very safe level.