Mazak Micro Slant 15 Retrofit

I think my drive settings are out . As soon as I enable the drives, it jumps probably 20 mm on the axis . They are turning much faster than what they are suppose to . Even when I remove the encoders from the Mesa 7i77 and jog the axis at 7mm/min ,it's going much faster than that . Any idea what I did wrong ?

First thing to check is tacho, reversing wires will cause motor to run at full speed when enabled.
Then encoder, reversing the encoder scale or reversing the PWM output by putting a - in front of the walue.
Set the drives to P mode, they should be already set if you did not move the switch.
Take it easy, do not push it, way to much power.

Which switch are you referring to ? I've tried looking everywhere in the manuals and on the drive it self ,I can't see where you switch the different loop modes .

The switch on the drives, it has P 0 V written under it.
Mine were set to P, and while i was tuning them i did set it to V but could not tune anything, so switched back to P and tuned as torque mode drives.

I tuned the motors according to your guide and everything is working well now!!

My P was set way too high and it caused the motors to run away as soon as I start up .

I am almost done with the machine .I am currently stuck on the automatic tool changer . It has an 8 tool drum turret that uses pneumatics to clamp and unclamp and an ac motor that turns the turret in both directions .It also uses 3 proximity sensors on an encoder wheel to detect the 8 different tool positions .

At this stage I have connected all of the original inputs and outputs associated with the ATC.

They are as follows:

Inputs :
1.tool position 1
2.tool position 2
3.tool position 3
4.turret clamped position
​​​​​5.turret unclamped position
6.Index sensor
7.turret pressure down sensor

Outputs :
1.Turret unclamp 1
2.Turret unclamp 2
3.Turret turn clockwise
4.Turret turn anti-clockwise

I have made 8 Classicladder outputs that work with the tool position sensors as inputs and managed to get all 8 tool position signals to work .I have manually tested each input and output with Hal component and everything works individually. I am not sure what to do next .I saw you used the Emcochanger component . Will that work on my machine ? If so ,what do I need to do to implement it on the machine . What inputs and outputs do I need to use and where do I do this ? I don't have much knowledge or experience with Hal or Classicladder .

I attached images of the ATC mechanism.

The subscripts are as follows:
1-Tool clamp and unclamp position sensors.
2-Tool position sensors 1-3
3-Index sensor