Analog servo drive enable

A fast short movement when first enabled suggest the the feedback is
backwards (the fix is to change the sign of OUTPUT_SCALE)

Actually I changed the OUTPUT_SCALE signal , but not difference ...
Peter ... Yesterday you told me may be the loop is not closed ... [ How can I verify that ] ??
- The Encoder feedback is ok as per the screen shoot i attached
- The drive enable also working properly .

So anything else I have to check it , to stop the slow rotation of the motor before enable ... ?

Is the behaviour different with OUTPUT_SCALE reversed?
What are your P,I,D settings?

The drive should not drift if not enabled It sounds like either the drive is still enabled
(check with a voltmeter on the drive enable input) or the drive is not programmed to obey the enable input

- No reversed ? remain same direction .
- the PID i'm using : P= 50 I= 0 D = 0 (attached img)
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As per the sketch I used the circuit breaker as switch .
So when : switch on => driver enabled
when : switch off => driver disable
Suppose to be the write wiring … but not right control because where is the effect of the net :
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.7i77.0.3.analogena
when I measure between [ ENOA- & 0V ] I got +24V reading
and when I measure between [ ENOA+ & 0V ] also I got +24V reading
while I did not press the enable from the axis gui ?
that means I got +24 from both ENOA- & ENOA+
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ENA0+ should be 24V (since its connected to +24V)
if ENA0- is at 24V when linuxCNC is not running then you
either have a wiring error or the ENA output has been damaged
somehow.

What does the drives enable pin read when unconnected?

Does the drive drift if the circuit breaker is off?

I check it even the linuxcnc is not running , still ENA0 give me 24v .
When I off the breaker , the driver shown indication shows the driver not enabled .
When the breaker is off ,,, the motor is not drifting .

if ENA0+ to ENA0- (disconnected from all external circuits)
Reads as anything other than an open circuit with a DVM
(on Ohms range and Meter+ to ENA0+, Meter- to ENA0-)
it is broken. You might try another ENA channel with this
test (ENA0 through ENA4 are all controlled by analogena)

Peter .... I really appreciate your help ...
I found the fault of the Enable , it was wiring DB25 mistake
So the enable issue .. sorted .

I follow your comments previously said to a member in the forum ..
forum.linuxcnc.org/38-general-linuxcnc-q...nt-0-following-error

I followed the exact steps .... Once I enable the driver (from linuxcnc) the motor start spinning shortly and then get joint following error
P Range [10 - 50 ] , I : 0, D : 0
FERROR : 15, MIN_FERROR : 15

Running away like that points to reversed feedback

Does it runaway with P = 0?

I have one more question ...
How is the analog signaling from 7i77 at drives [0-5] (AUT0 , GND)
is it differential? or single ended ?
ie :
AUT0 => -10 to +10 V
GND => 0 V
or
AUT0 => +10 V
GND => -10 V