Elumatec SBZ 130/01 retrofit

Nah, its Sunday but its raining...

Ok, flashed the new firmware PCW made for me to have 6 SSI and 2 SSerial on 7i74, all working nicely.
Wired all encoders, all working.
Wired servo drives .........and working but only in one direction, pressing + or - moves in the sames direction on all axis. Checked the HAL Configuration for hm2_5i25.0.7i77.0.1.analogout0 and hm2_5i25.0.7i77.0.1.analogout1 and hm2_5i25.0.7i77.0.1.analogout2, all give negative value when pressing - or +.
Also changed the OUTPUT_SCALE adding - but no joy just changes the direction as it should, also changing encoder scale does nothing as far as moving forward/backward is concerned.

Got the X axis working in both directions, now to expunge the joint.0.following errors

Something fuzzy with encoder feedback, i get the error even when moving slowly at exactly the amount set in the ini file, namely i get the error at 1mm of movement, that is the min_ferror.
Something fishy in ..........enter country here !!!

Are you sure the feedback is negative? (there's a 50 % chance of getting this wrong on a first time setup)
You probably need to plot the commanded and feedback position (with HALScope) to see whats going on

net x-pos-fb <= hm2_5i25.0.ssi.00.xencoder.position
net x-vel-fb <= hm2_5i25.0.ssi.00.xencoder.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_5i25.0.ssi.00.xencoder.index-enable
net x-pos-rawcounts <= hm2_5i25.0.ssi.00.xencoder.rawcounts


When i enable the x-vel-fb linuxcnc fails to start complaining about hm2_5i25.0.ssi.00.xencoder.velocity does not exist.

That's correct, there is no velocity pin on SSI (or BISS or FANUC) encoders

This is because unlike quadrature encoders, there is no mechanism to get a
better velocity estimate than simple d/dt of position

The PID component calculates this d/dt velocity automatically from the feedback position
if the pid.n.feedback-deriv pin is left unconnected

Thank you PCW.
Still getting the error, set the min_ferror at 3, i get the following error after exactly 3 mm of movement. DRO shows all is good moving up and down.
Seems to me like it is not updating the pid feedback.
Strange.

look at motions commanded and feedback pins:

axis.N.motor-pos-cmd
and
axis.N.motor-pos-fb

The following error is the difference between these pins

Using 2.8 so i have
joint.N.motor-pos-cmd
and
joint.N.motor-pos-fb
on the scope they do not move at all while
joint.N.pos-cmd
and
joint.N.pos-fb
react as they should
Leme scratch my head for a while, this is new for me.