Analog servo drive enable

7I77 outputs are single ended.

I noticed that , and I did the single ended wiring ... but still I was not able to do the PID tuning, I attached the hal and ini file.
I always get joint following error … just once I click jog … I got the servo spinning for a while then I got Joint following Error ..

Try setting FF1 to 0
Then it should just drift when enabled and ignore any jog
( FF1 = 1 is _way_ too high)

Then set P to a very small value (say .05)
and see if the motion tries to follow the command
when jogged or runs away

Peter .... You rock
It works very well ....
Thank you very much

If the output scale is in volts ( which is pncconfs default), note that you
can calculate an approximate FF1 value if you know the joint velocity at 10V:

FF1 = 10/Vel@10V

And alternate way to do this is to scale the analog output so a command of
full scale speed results in a 10V output, then FF1 = 1.0

For example, if a joint speed is 200 mm/s at 10V, setting the output scale
to 200 means that FF1 would be 1.0.

If you change the output scale you also need to set the min and max limits
to match