• Try initially wiring just one axis, and connect and configure the other axes once you have one connected as expected.
  • If as soon as you try to jog the axis you get a 020 error, it is possible that the motor is tuning in one direction while the encoder is reading in the opposite direction.  This can easily be fixed by inverting the A and B coils going from the driver to the motor.  This inverts the motor direction. 
  • It is possible that active High/Low for the Fault and Enable signals (PA_15 and PA_16) on the servo may need to be inverted.   Check page 14 of the manual: