Mecanumeric MF2040 LI retrofit (Pantograph)

One thing about optical encoders, they really don't appreciate contamination. If oil or coolant get into them, it will generally really screw them up. Even if none of the electronics with are hurt, a little dirt in the wrong spot or on the wheel can be very bad. Also when they get really old sometimes the LED source can get weak or fail.

Yes, that could definitely be the case. It's a very old machine—27 years old—but I decided I want to give her a new life. The structure is really solid, plus it has vacuum and lubrication for aluminum, which is great.
So, I want to do this retrofit, and I think the setup I posted here should get the job done. The only thing I have to do is adapt the old motor frames (they have a small gearbox), because the old motor is 89x89mm and the Leadshine is 80x80mm. I hope it won’t be too difficult.
Once the machine is up and running and I’ve done some work with it, I can swap the spindle and install an automatic tool changer. That would be so cool!

Do you have any general advice? Does the setup look good to you guys?
By the way, I’ve installed the LinuxCNC ISO on an old PC with an Intel i5. Now I’m just waiting to buy the Mesa board and start configuring everything.

 So, just arrived the order for my retrofit .  I bought Mesa 7i76EU (i've done the configuration of Linuxcnc in a hold pc), than  Leadshine ELM1  , 3 of them 750w and one small 400w  and the drivers  EL6 for all the motors with different power supply. Im bit struggling because i can't connect the Motion Studio software to my driver for some tests idk if its the cable or other. I need to do a bit of wiring, and discover where to plug the brake of the motors , becausa i mounted all but i don't understand if i have to wire it with a another circuit with relays and a powersupply or if i can control it from the driver , didn't discovered it yet i need to check the schematics a few more times. If someone has any advices , or any experience with Leadshine motors and driver it's appreciated.
 

I wired all the the motors, but i can't move with linuxcnc and the mesa board , i've done the basic configuration and followed the this post  because the configurator couldn't find the mesa but after following the instruction the mesa is recognised. My issue now is that i can't command the motors from mesa and motion control of leadshine can't find the driver(i've contacted the even  the techsupport of leadshine , and no solution finded). For the wiring i followed this  and the official pdf. The wiring should be good, i don't think i've done something wrong . A the moment i've some doubts if linuxcnc can communicate with the mesa, but if i unplug the ethernet cable in linuxcnc it's reported an error so i think they are talking. I share the photo's of my wiring. 
Has anyone experienced a similar problem? Is there a way to further test the Mesa board’s output, or any diagnostics I can run in LinuxCNC? Any advice would be greatly appreciated!

Also are the drives enabled?

Typically servo drives would have an enable input that must be connected to operate
(with default setup parameters)

Note that if LinuxCNC cannot communicate with the 7I76EU, LinuxCNC will not start.

I don't know if the driver it's enabled, its hard to understand something with that display and buttons . But i'm trying to operate with motion studio that won't give me access to the driver, could be the chinese CH340 usb A to rs232 that i'm using . For the mesa i tryied boot up linuxcnc with the mesa offline and it didn't boot up(with the mesa online it boot fine), so the problem now is that i need to know what the driver it's doing and why i can't connect with it.
Tomorrow i try to check if i can enable the driver with the buttons .

So, I've done a lot of progress . After I changed the usb  to RS232 cable( don't buy low quality RS232 to usb cable) I've been able to connect to my driver and configure the external enable and the internal disengage of the motor brake(you need to power the io from external 24v source with Leadshine) . After all this i wired a 24v Finder relay for the motor enable commanded by the mesa,when i launch the program the mesa power  the relay and enable all the drivers. Now  I'm able to move the axis from linuxcnc, but i think I'll change the basic Axis gui with probebasic for more userfriendly interface. For the motor wiring I have to thank the Leadshine tech support, they reply very fast, and for mesa i refered to this guy video  (very helpfull, the 7i76EU version it's same wiring confirmed by Mesa tech support , for shematics and 3d support prototipe refer to this  and official 7i76E pdf ). So now i've to do some tests and project all the electrical supply for all that stuff, and i have to adapt the motors to the mecanical part with new mounting plates(i think i will design them with Fusion 360 and buy them from PCBway machining or other). That's all.