7i40hv pid

Scale are all positive, I put the part ini so you can see the values.

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.5
MAX_VELOCITY = 130
MAX_ACCELERATION = 1000.0
P = 10
I = 0
D = 0.022
FF0 = 0
FF1 = 0.046
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 5040
OUTPUT_SCALE = 1
MIN_LIMIT = -140
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = yes
HOME_SEQUENCE = 0
VOLATILE_HOME = 0

Look in the HAL to make sure that encoder.N.velocity scale is actually being set, there isn't an INI entry for it.

then I miss something ... this is the whole part z.


#*******************
# AXIS Z
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
net z-vel-fb => pid.z.feedback-deriv

# ---PWM Generator signals/setup---

setp hm2_7i80.0.pwmgen.03.output-type 1
setp hm2_7i80.0.pwmgen.03.scale [AXIS_2]OUTPUT_SCALE

net z-output => hm2_7i80.0.pwmgen.03.value
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out => hm2_7i80.0.pwmgen.03.enable

# ---Encoder feedback signals/setup---

setp hm2_7i80.0.encoder.03.counter-mode 0
setp hm2_7i80.0.encoder.03.filter 1
setp hm2_7i80.0.encoder.03.index-invert 0
setp hm2_7i80.0.encoder.03.index-mask 0
setp hm2_7i80.0.encoder.03.index-mask-invert 0
setp hm2_7i80.0.encoder.03.scale [AXIS_2]ENCODER_SCALE

net z-pos-fb <= hm2_7i80.0.encoder.03.position
net z-vel-fb <= hm2_7i80.0.encoder.03.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_7i80.0.encoder.03.index-enable
net z-pos-rawcounts <= hm2_7i80.0.encoder.03.rawcounts

# ---setup home / limit switch signals---

net home-z => axis.2.home-sw-in
net z-neg-limit => axis.2.neg-lim-sw-in
net z-pos-limit => axis.2.pos-lim-sw-in

Sorry, I looked and there doesn't seem to be a separate parameter in the encoder function (it is a separate param for Resolver)
So ignore me

thanks Andy
so I can leave everything so that's fine