Converting 5i25 file to 7i92..Sanity check

Hello all,

I am getting near to testing my new configuration for the first time and just wanted a sanity check to make sure i performed the coversion properly from the 5i25 to a 7i92 for use in the debian stretch version on the ethernet 7i92. any feedback on anything else also much appreciated!

# Generated by PNCconf at Thu Nov 9 12:55:45 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=16
loadrt hostmot2
loadrt hm2_eth config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"
setp hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt near
loadrt xor2 count=4

addf hm2_7i92.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf near.0 servo-thread
addf hm2_7i92.0.write servo-thread
addf xor2.0 servo-thread
addf xor2.1 servo-thread


# external output signals


# --- DIGITAL OUTPUT ---
net atc-out hm2_7i92.0.7i76.0.3.output-07 <= motion.digital-out-00

net atc-in hm2_7i92.0.7i76.0.3.output-08 <= motion.digital-out-01


# --- INCLUDES MANUAL TOOL RELEASE BUTTON INPUT BELOW ---
net unclamp-tool-button xor2.0.in0 <= hm2_7i92.0.7i76.0.3.input-06
net unclamp-tool-toolchange xor2.0.in1 <= motion.digital-out-02
net drawbar-release hm2_7i92.0.7i76.0.3.output-03 <= xor2.0.out

net atc-fwd hm2_7i92.0.7i76.0.3.output-05 <= motion.digital-out-03

net atc-rev hm2_7i92.0.7i76.0.3.output-06 <= motion.digital-out-04


# --- SPINDLE OREINT BEGIN ---
net spindle-orient-start motion.spindle-orient hm2_7i92.0.7i77.0.0.output-08



# --- X-ENABLE ---
net x-enable hm2_7i92.0.7i76.0.3.output-12

# --- Y-ENABLE ---
net y-enable hm2_7i92.0.7i76.0.3.output-13

# --- Z-ENABLE ---
net z-enable hm2_7i92.0.7i76.0.3.output-14

# --- A-ENABLE ---
net a-enable hm2_7i92.0.7i76.0.3.output-15


# --- FLOOD COOLANT ---
net coolant-flood hm2_7i92.0.7i76.0.3.output-04 <= xor2.1.out


# external input signals




# --- SPINDLE ORIENT ENDED ---
net spindle-orient-end motion.spindle-is-oriented hm2_7i92.0.7i77.0.0.input-31


# --- ESTOP-EXT ---
net estop-ext <= hm2_7i92.0.7i76.0.3.input-21-not

# --- PROBE-IN ---
net probe-in <= hm2_7i92.0.7i77.0.0.input-15











# --- DIGITAL INPUTS ---
net atc-is-out hm2_7i92.0.7i76.0.3.input-00 <= motion.digital-in-00

net atc-is-in hm2_7i92.0.7i76.0.3.input-01 <= motion.digital-in-01

net Tool-Released hm2_7i92.0.7i76.0.3.input-05 <= motion.digital-in-02

net Atc-Zero hm2_7i92.0.7i76.0.3.input-03 <= motion.digital-in-03

net Atc-Index hm2_7i92.0.7i76.0.3.input-02 <= motion.digital-in-04

net Tool-Clamped hm2_7i92.0.7i76.0.3.input-07 <= motion.digital-in-05



# --- MIN-Z ---
net min-z <= hm2_7i92.0.7i77.0.0.input-06-not

# --- HOME-Z ---
net home-z <= hm2_7i92.0.7i77.0.0.input-07-not

# --- MAX-Z ---
net max-z <= hm2_7i92.0.7i77.0.0.input-08-not

# --- HOME-Y ---
net home-y <= hm2_7i92.0.7i77.0.0.input-04-not

# --- MIN-Y ---
net min-y <= hm2_7i92.0.7i77.0.0.input-03-not

# --- MAX-Y ---
net max-y <= hm2_7i92.0.7i77.0.0.input-05-not

# --- HOME-X ---
net home-x <= hm2_7i92.0.7i77.0.0.input-01-not

# --- MAX-X ---
net max-x <= hm2_7i92.0.7i77.0.0.input-02-not

# --- MIN-X ---
net min-x <= hm2_7i92.0.7i77.0.0.input-00-not

#*******************
# AXIS X
#*******************

setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005

net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output

# Step Gen signals/setup

setp hm2_7i92.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
setp hm2_7i92.0.stepgen.00.dirhold [AXIS_0]DIRHOLD
setp hm2_7i92.0.stepgen.00.steplen [AXIS_0]STEPLEN
setp hm2_7i92.0.stepgen.00.stepspace [AXIS_0]STEPSPACE
setp hm2_7i92.0.stepgen.00.position-scale [AXIS_0]STEP_SCALE
setp hm2_7i92.0.stepgen.00.step_type 0
setp hm2_7i92.0.stepgen.00.control-type 1
setp hm2_7i92.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net x-pos-cmd <= axis.0.motor-pos-cmd
net x-vel-cmd <= axis.0.joint-vel-cmd
net x-output <= hm2_7i92.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i92.0.stepgen.00.position-fb
net x-pos-fb => axis.0.motor-pos-fb
net x-enable <= axis.0.amp-enable-out
net x-enable => hm2_7i92.0.stepgen.00.enable



# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.01.counter-mode 0
setp hm2_7i92.0.encoder.01.filter 1
setp hm2_7i92.0.encoder.01.index-invert 0
setp hm2_7i92.0.encoder.01.index-mask 0
setp hm2_7i92.0.encoder.01.index-mask-invert 0
setp hm2_7i92.0.encoder.01.scale [AXIS_0]ENCODER_SCALE

net x-encpos-fb <= hm2_7i92.0.encoder.01.position
##net x-vel-fb <= hm2_7i92.0.encoder.01.velocity
##net x-encpos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_7i92.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_7i92.0.encoder.01.rawcounts



# ---setup home / limit switch signals---

net home-x => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net max-x => axis.0.pos-lim-sw-in

#*******************
# AXIS Y
#*******************

setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005

net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output

# Step Gen signals/setup

setp hm2_7i92.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
setp hm2_7i92.0.stepgen.01.dirhold [AXIS_1]DIRHOLD
setp hm2_7i92.0.stepgen.01.steplen [AXIS_1]STEPLEN
setp hm2_7i92.0.stepgen.01.stepspace [AXIS_1]STEPSPACE
setp hm2_7i92.0.stepgen.01.position-scale [AXIS_1]STEP_SCALE
setp hm2_7i92.0.stepgen.01.step_type 0
setp hm2_7i92.0.stepgen.01.control-type 1
setp hm2_7i92.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net y-pos-cmd <= axis.1.motor-pos-cmd
net y-vel-cmd <= axis.1.joint-vel-cmd
net y-output <= hm2_7i92.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i92.0.stepgen.01.position-fb
net y-pos-fb => axis.1.motor-pos-fb
net y-enable <= axis.1.amp-enable-out
net y-enable => hm2_7i92.0.stepgen.01.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.02.counter-mode 0
setp hm2_7i92.0.encoder.02.filter 1
setp hm2_7i92.0.encoder.02.index-invert 0
setp hm2_7i92.0.encoder.02.index-mask 0
setp hm2_7i92.0.encoder.02.index-mask-invert 0
setp hm2_7i92.0.encoder.02.scale [AXIS_1]ENCODER_SCALE

net y-encpos-fb <= hm2_7i92.0.encoder.02.position
##net y-vel-fb <= hm2_7i92.0.encoder.02.velocity
##net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_7i92.0.encoder.02.index-enable
net y-pos-rawcounts <= hm2_7i92.0.encoder.02.rawcounts



# ---setup home / limit switch signals---

net home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-y => axis.1.pos-lim-sw-in

#*******************
# AXIS Z
#*******************

setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005

net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output

# Step Gen signals/setup

setp hm2_7i92.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
setp hm2_7i92.0.stepgen.02.dirhold [AXIS_2]DIRHOLD
setp hm2_7i92.0.stepgen.02.steplen [AXIS_2]STEPLEN
setp hm2_7i92.0.stepgen.02.stepspace [AXIS_2]STEPSPACE
setp hm2_7i92.0.stepgen.02.position-scale [AXIS_2]STEP_SCALE
setp hm2_7i92.0.stepgen.02.step_type 0
setp hm2_7i92.0.stepgen.02.control-type 1
setp hm2_7i92.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net z-pos-cmd <= axis.2.motor-pos-cmd
net z-vel-cmd <= axis.2.joint-vel-cmd
net z-output <= hm2_7i92.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i92.0.stepgen.02.position-fb
net z-pos-fb => axis.2.motor-pos-fb
net z-enable <= axis.2.amp-enable-out
net z-enable => hm2_7i92.0.stepgen.02.enable


# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.04.counter-mode 0
setp hm2_7i92.0.encoder.04.filter 1
setp hm2_7i92.0.encoder.04.index-invert 0
setp hm2_7i92.0.encoder.04.index-mask 0
setp hm2_7i92.0.encoder.04.index-mask-invert 0
setp hm2_7i92.0.encoder.04.scale [AXIS_2]ENCODER_SCALE

net z-encpos-fb <= hm2_7i92.0.encoder.04.position
##net z-vel-fb <= hm2_7i92.0.encoder.04.velocity
##net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_7i92.0.encoder.04.index-enable
net z-pos-rawcounts <= hm2_7i92.0.encoder.04.rawcounts



# ---setup home / limit switch signals---

net home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-z => axis.2.pos-lim-sw-in

#*******************
# AXIS A
#*******************

setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror .0005

net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output

# Step Gen signals/setup

setp hm2_7i92.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP
setp hm2_7i92.0.stepgen.03.dirhold [AXIS_3]DIRHOLD
setp hm2_7i92.0.stepgen.03.steplen [AXIS_3]STEPLEN
setp hm2_7i92.0.stepgen.03.stepspace [AXIS_3]STEPSPACE
setp hm2_7i92.0.stepgen.03.position-scale [AXIS_3]STEP_SCALE
setp hm2_7i92.0.stepgen.03.step_type 0
setp hm2_7i92.0.stepgen.03.control-type 1
setp hm2_7i92.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL
setp hm2_7i92.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAXVEL

# ---closedloop stepper signals---

net a-pos-cmd <= axis.3.motor-pos-cmd
net a-vel-cmd <= axis.3.joint-vel-cmd
net a-output <= hm2_7i92.0.stepgen.03.velocity-cmd
net a-pos-fb <= hm2_7i92.0.stepgen.03.position-fb
net a-pos-fb => axis.3.motor-pos-fb
net a-enable <= axis.3.amp-enable-out
net a-enable => hm2_7i92.0.stepgen.03.enable

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.05.counter-mode 0
setp hm2_7i92.0.encoder.05.filter 1
setp hm2_7i92.0.encoder.05.index-invert 0
setp hm2_7i92.0.encoder.05.index-mask 0
setp hm2_7i92.0.encoder.05.index-mask-invert 0
setp hm2_7i92.0.encoder.05.scale [AXIS_3]ENCODER_SCALE

net a-encpos-fb <= hm2_7i92.0.encoder.05.position
##net a-vel-fb <= hm2_7i92.0.encoder.05.velocity
##net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_7i92.0.encoder.05.index-enable
net a-pos-rawcounts <= hm2_7i92.0.encoder.05.rawcounts



# ---setup home / limit switch signals---

net a-home-sw => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net a-pos-limit => axis.3.pos-lim-sw-in

#*******************
# SPINDLE S
#*******************

setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true

net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm-abs => pid.s.command
net spindle-vel-fb-rpm-abs => pid.s.feedback
net spindle-output <= pid.s.output

# ---PWM Generator signals/setup---

setp hm2_7i92.0.7i77.0.1.analogout0-scalemax [SPINDLE_9]OUTPUT_SCALE
setp hm2_7i92.0.7i77.0.1.analogout0-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_7i92.0.7i77.0.1.analogout0-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT

net spindle-output => hm2_7i92.0.7i77.0.1.analogout0
net spindle-enable hm2_7i92.0.7i77.0.1.analogena

# ---Encoder feedback signals/setup---

setp hm2_7i92.0.encoder.00.counter-mode 0
setp hm2_7i92.0.encoder.00.filter 1
setp hm2_7i92.0.encoder.00.index-invert 0
setp hm2_7i92.0.encoder.00.index-mask 0
setp hm2_7i92.0.encoder.00.index-mask-invert 0
setp hm2_7i92.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE

net spindle-revs <= hm2_7i92.0.encoder.00.position
net spindle-vel-fb-rps <= hm2_7i92.0.encoder.00.velocity
net spindle-index-enable <=> hm2_7i92.0.encoder.00.index-enable

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable

# ---Setup spindle at speed signals---

net spindle-vel-cmd-rps => near.0.in1
net spindle-vel-fb-rps => near.0.in2

##########################
net spindle-at-speed <= near.0.out
##########################
setp near.0.scale 1.000000
##########################
setp near.0.difference 5

##sets spindle-at-speed true

# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.

setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out

#******************************
# connect miscellaneous signals
#******************************

# ---HALUI signals---
## BELOW COMMENTED OUT FOR PENDANT TO WORK
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
##net jog-x-pos halui.jog.0.plus
##net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
##net jog-y-pos halui.jog.1.plus
##net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
##net jog-z-pos halui.jog.2.plus
##net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net joint-select-d halui.joint.3.select
net a-is-homed halui.joint.3.is-homed
##net jog-a-pos halui.jog.3.plus
##net jog-a-neg halui.jog.3.minus
net jog-a-analog halui.jog.3.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop

## BELOW COMMENTED OUT FOR PENDANT TO WORK
##net machine-is-on halui.machine.is-on
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi


# ---tool release---



# ---coolant signals---

net coolant-mist <= iocontrol.0.coolant-mist


# ---probe signal---

net probe-in => motion.probe-input

# ---motion control signals---

## BELOW COMMENTED OUT FOR PENDANT TO WORK

##net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled

# ---digital in / out signals---


# ---estop signals---

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

# ---manual tool change signals---

#loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number


net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

loadrt hm2_eth config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

should be

loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

or

loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

depending on 7I92 IP address setup

PCW wrote:

loadrt hm2_eth config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

should be

loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

or

loadrt hm2_eth board_ip="192.168.1.121" config=" num_encoders=6 num_pwmgens=0 num_stepgens=5 sserial_port_0=00000x"

depending on 7I92 IP address setup

I'm 10.10.10.10

You're a hero!!

Thanks Peter!!

Chris