- 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: