[Jim Dawson]

Yes, A+ to +MAZ, A- to -MAZ, B+ to +MBZ, and B- to -MBZ.

Note, when you do this you may have to change your CEZ value. Also, this should double the PPR. I recommend that when you make this change that you mechanically disconnect the servo from the axis, or set your TLZ to a low value, maybe 0.5 or so. Just to make sure the motor doesn't run away when you make this change. Once you are sure the motor is under control, then you can set the TLZ back to normal.

[bbutcher85710]

Yes, A+ to +MAZ, A- to -MAZ, B+ to +MBZ, and B- to -MBZ.

Note, when you do this you may have to change your CEZ value. Also, this should double the PPR. I recommend that when you make this change that you mechanically disconnect the servo from the axis, or set your TLZ to a low value, maybe 0.5 or so. Just to make sure the motor doesn't run away when you make this change. Once you are sure the motor is under control, then you can set the TLZ back to normal.

OK, I understand now that you want me to try differential mode. I will try that. I doubt this is a noise related issue since the error seems quite consistent from one repetition to the next. I am beginning to wonder if perhaps the pinout for the encoder is incorrect. I may need to put a scope on it to verify the waveforms. Thank you for your help, and I will be careful to prevent runaway of the motor. I do have limit switches on it connected to the motor controller to avoid serious damage. With that said, I managed to burn up a servo motor a couple of years ago when it jammed and I did not notice it in time. I have the torque limits set a bit below 10 Amps now to prevent overheating of my Copely motor controllers.

Bob