[janbbeck]

Hi. Thank you for reading this.

I have a Yaskawa SGDH Servopack. I have gotten most functions to work fine. The servopack comes up. I can control/monitor the unit in SigmaWin+

The problem I am having is that when I send pulse/direction signals to the servopack, my error counter in the PID loop does not seem to be decrementing.

Using SigmaWin, I can see that all inputs and outputs are the way I think they should be. The only discrepancy I see is with the internal counter used by the PID loop.
I can send pulses to the unit just fine, and they show up in the "Reference Pulse Counter" monitor.
The "Deviation Counter" always mirrors the "Reference Pulse Counter"
The "FB pulse Counter" merrily counts the pulses coming back from the encoder.

For some reason, encoder pulses seem to not be subtracted from the loop. So the motor turns forever. The more pulses I send, the faster it turns...
The unit is set to position control.

Help, please.

[janbbeck]

Found it!
The fully-closed encoder option was configured. This, being the option for an external glass scale, naturally kept the feedback from the motor encoder out of the loop.