Mesa 7i95T config for workbench tests - to drive H-Bridges + PMDC servos

Gents,

I'm slowly preparing items and knowledge to make my plasma cutter based on Hypertherm Powermax 45 XP (just received CPC port upgrade kit). I have a specific conditions - at work for 4 weeks and away from home/garrage and i could only take limited set of toys with me:
- Lenovo T470 with Linuxcnc installed
- Mesa 7i95T
- 2 x THCAD (for THC and ohmic)
- some limit switches
- 3 x H-bridge and 3 x small PM DC servo motors
- bunch of wires
- old laptop power supply to power those servos.

That's all i have to play with LinuxCNC and learn configuration, etc. Ideally i'd like to make those servos live on my bench.
I couldn't take "real" servos and drivers due to weight limitation - my only option was to take those small servos and h-bridge modules. 
If i understand things correctly, out-of-the-box mesa cards are preloaded with firmware containing Step/dir generators and can't be used to control -bridge based servos it this state. So i need to build a specific firmware to replace step gens with pwm generators, right?
I'm stepping here into very dark area for me - creating custom bit file.
I heard that custom bit file are now easier to create with the new FPGA chips on Mesa cards - is it true?
I case of my failure - would it be possible to get some help from you to create custom bitfile? The only source i found is talla83 videos on yt.

Thank you for inputs and have a great weekend.

Yeah, i should gave the details in the previous post. Sorry. 
H-bridge in question is popular module based on two BTS7960B half bridge chips.
As per data sheet:
- PWM up to 25 kHz
- 5 V logic for control is ok
- two inputs for control should be ok: CW PWM and CCW PWM.
- two inputs for CW enable and CCW enable

Looks like i'll need 3 PWM generator pairs (used in mode 2: PWM up, PWM down) to drive 3 motors and i think i can use enable signal from LinuxCNC to drive CW/CCW enable inputs so when machine is off in LinuxCNC motor will be free rotating.

 

Here's a 7I95T config with all 6 stepgens replaced with PWMgens:

 

Its a existing config but it's not on the distribution image for some reason.
(I'll fix that Monday)

Note that you should choose the PWM output pin polarity so you get the
low state at power up/watchdog bites (this may also require inverting the PWM
outputs in the hal file)
 

Thank you PCW - wasn't expecting any reply on Sunday:) Wow

Happy like a kid started tweaking with Mesa:
1. connected, powered and check if visible - all ok
2. mesaflashed used to write bin file from PCW - all seems ok, i can sie PWM instead of stepgens (screen shot attached)
3. installed MesaCT 2.1.7
4. built config as in attached screenshots (grrr how to paste photos into the text here???)
5. run LinuxCNC and crash as per screen shot:(


 

More screen shots:
I don't understand where is the proper place in MesaCT to set XYZ axes PWM mode, assign pins for it, assign pins for respective encoders. Curious why in CT, under "Firmware' tab -> 'Mesaflash' tab: there is no options available - not possible to pick firmware file, not possible to verify existing one, 'Add firmware' not working (no reaction at all).

I know PID tuning will be from LinuxCNC but it's not starting at this stage.

Configuration files created attached.Please poke me in good direction.

Strangely enough, it may be easier to start with a mesact configuration
for a 7I97T since that uses PWM out and encoder feedback.

You would need to at minimum set the PWM output mode to up/down (2)
and disable offset mode. Also of course, change the card name.