MESA 6i24 + 7i36

            
I am from Taiwan and want to modify a decommissioned laser etching machine into a CNC router. I purchased MESA 6i24 and 7i36 cards from EuSurplus. my old PC can now detect the 6i24 (5i24_16_sv8_7i36x2d.bit), and I've started configuring Pncconf.My machine and PC software configuration are as follows:
1. Linear motor: HIWIN, LMSA22
2. Driver: Maga-Fabs, D1-36-S2-2-0-00 (refer to D1-User-Manual_CN2.pdf)
3. Optical scale: Renishaw, 20μm
4. Decoder: MicroE Veratus VX 0.5μm
5. Debian 12 + Linuxcnc2.9.8 + mesa 6i24 mesa 7i36
6. X-axis travel: 500mm, maximum speed: 50mm/sec (for testing purposes only, not for actual use)The generated INI and HAL files after configuration are attached. I'm not sure that it's correct?

3 changes should be done in the hal file:

1. Set the PWM rate to 48 KHz

2. Set offset mode true for all PWM channels:

setp hm2_5i24s.0.pwmgen.0N.offset-mode true
Where "N" is the channel number

This is critical or the analog output will be wrong

3. Set dither mode true for all PWM channels:
hm2_5i24.0.pwmgen.0N.dither true
 This will increase the Analog resolution from 12 bits full scale to 15 bits full scale

Note that this requires firmware with PWMGen version 1 if the 5I24 firmware
does not have version 1 PWMGens, I will update it.

Note that you may need to change the PWM scale so you have the desired
negative feedback (control) rather than positive feedback (runaway)