Set up using AMC AB15A100 drives, brushed DC motor Prototrak Plus with Encoders

(This post was written as a reply to your previous post and may not be pertinent)

Sounds like you need to switch the dip switch SW1-5 on the drive to the "on" position. But before you do that. A couple of questions. Right now it sounds like the drive enable/inhibit behavior is backwards to the desired behavior. You want the drive to be inhibited when Linuxcnc is not running, running and in e-stop, running with e-stop off (after pressing F1) and not enabled (before pressing F2). The drive should only be enabled when Linuxcnc is out of e-stop and machine enabled (after pressing F1 and F2).

When the drive is powered on, and Linuxcnc is not running, is the motor un-powered (no slow motion) and can be turned freely by hand? If that is true but the behavior is backwards when Linuxcnc is started, this means that you need to invert the signal polarity in Linuxcnc.

Having a joint following error almost immediately after pressing F2 would be expected behavior for a system that is correctly connected, but without a properly tuned PID loop in Linuxcnc.

In your ini file what are your min_ferror and ferror settings for the joint in question? Before you tune your PID loop you need to set these to a sufficiently large number to allow you to tune the loop. 5cm or a couple of inches is usually a good number.

Next study a PID tuning tutorial or two and start following the steps to determine the right PID settings for your machine.

Once you've tuned the PID set the following error limits to much smaller numbers such as 0.1mm for max_ferror and 0.01mm for ferror. (or what ever your machine's capabilities should allow.)

Todd Zuercher, many thanks. The dip switch SW1-5 on the drive is in the "on" position. Should I turn to off? Todd, I am receiving some questions from A-M-C, that I am working as well.
Thanks!

I am having trouble telling from your descriptions when or if the drive is enabled or inhibited.

When Linuxcnc is out of e-stop and machine enabled (on, F2), the P1-9 pin that normally floats at 5v, should be pulled low to the the P1-2 ground reference by the ENA+/ENA- connection on the 7i77 card.

You need to set the SW1-5 switch to what ever setting enables the drive when P1-9 is pulled low, and is inhibited when it floats high. I would read that as what the manual calls "Drive Inhibit is active high" which is the "off" position for SW1-5. But confirm with the AMC tech, or test it yourself.

Todd, I have edited the .ini file: Went from 0.05 to 2.0 on the x & y axes (only 2 axes), only edited the MIN_FERROR. AMC & are talking on phone, will have more news soon.