I need help with third party servo drive control

[SMITH_3020]

OAK CNC12 Mill V5.20
SN A901374

I am integrating a single axis X for now and using existing ELMO servo drive. I have completed the setup procedures in TB327. The attached reports are the most recent.
I have integrated a Yaskawa servo drive and motor as a test. This works fine. I can command via jog, MPG, MDI or program.
Using the ELMO system software, I am able to command the servo and it responds properly. Feeds and position commands as well as Tuning process all work properly.
I can inject a DC voltage into J7 connector, velocity or torque or rpm command input, and the motor responds correctly.
The Enable signal operates correctly. If Enable is active, servo will operate, if not active as in Estop, then servo will not operate.

The ELMO system doesn't respond to motion commands from the OAK by any means, jog, MPG, etc.
The ELMO system provides the position feedback to OAK. This work properly.
symptoms: As I jog the X axis, the PID Error values climb until an error is displayed. "410 X axis(1) position error'

I believe the Analog Request, Pin 26 and 25, aren't outputting a signal when I am using the ELMO drive. The wiring has been verified to be correct.

Also,
Does the OAK system provide a means to monitor the servo input/output commands?
I see STG5 AxesEnableStage status in live IO screen but nothing with more detail.

Thank you for your assistance

[cncsnw]

It is hard to guess what is wrong, without:
1) A manual for the drive showing the connection and functions of its various J_ connector pins
2) A diagram of how you connected the Oak cable to those pins

In your picture, I do not see the Brown ENABLE wire from the Oak connecting anywhere.
What does that drive require for an Enable?
How are you providing it?

[cncsnw]

Does the OAK system provide a means to monitor the servo input/output commands?

Not directly, but some of those commands are reflected in PLC system variables, which can be copied to PLC memory bits for better visibility.
For example, SV_PC_POWER_AXIS_1 is a reliable indicator that the Oak is activating (closing to 0V) the ENABLE output.
The PLC program already copies several bits of the drive's status output, including the alarm state, into blocks of memory bits starting at MEM500.

I see STG5 AxesEnableStage status in live IO screen but nothing with more detail.

Use the PLC Detective source code view and scroll down to line 3133 or so.

[cncsnw]

Also, you appear to have the PID control configured for pulse-train position mode, not analog velocity mode.

To run in velocity mode, change Parameter 256 to 1, and enter some values in the PID gains.
A reasonably conservative starting point for PID gains would be:
Kp = 0.01
Ki = 0
Kd = 0
Kg = 0
Kv1 = 50
Ka = 0

TB327 relates to the System Test, so I don't know how that would provide you any guidance connecting third-party velocity-mode drives to an Oak unit.