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Not sure what you mean by encoder_value.
You have the cia402.x.pos-scale to work with.
Instead of mathematically figuring it out, multiply the current value with 6.5/2 = 3.25 and try again.
If you find that number matches a known relation, use that.

I think the following errors follows from the pos-scale. At least get this right first.

More text here on how to calculate pos-scale
forum.linuxcnc.org/ethercat/22346-etherc...er?start=1360#338150

db1981 wrote:

state machine from my comp is ok . 0x6 -> 0x7 -> 0x7f . Bit 2 (quickstop) is always set.

mine too, do you fix that

Did you start the motor?

Hello,
I'm trying to start the motor but it's not working, I tried via halrun and via sudo ethercat upload -p and motor enters OP, but it doesn't accept OP_STATUS, always 0, and the motor dont move, please can you help me somehow.

I have been trying to solve these problems on my own with very little headway:

When the Servo moves 2 inches, LinuxCNC registers it as ~6.5inches regardless of the encoder_scale value

joint following error when I try to jog over ~60in/min (linuxcnc units)

joint following error when try to home (probably related)

I haven't even gotten to the real configuration and am already failing :'/
Help is appreciated

1. there is no issue changing the firmware (unless you needed the 7I74)

2. 150V full scale should be OK though it may give less margin for sensing ARC OK if you don't have an
ARC OK signal from the plasma source. You can use any divider but /32 is suggested for best noise immunity
If you use /1 you must reduce the encoder filer time constant (so not suggested)

3. Yes, for 7i96s_7i74 or 7i96s_d or 7i96s_dpl firmware, the "A0" encoder input
is always on TB2 pins 7,8 (you can check by looking at the .pin files in the firmware directory)