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are you compiling with release or debug? idk which one but people report trouble with one

This is what my hal shows for one of my axis servos, should be stp/dir. Does this look like a step/dir or analog code.

#*******************
# AXIS X JOINT 0
#*******************

setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500

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

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

setp hm2_7i76e.0.7i77.0.3.analogout1-scalemax [JOINT_0]OUTPUT_SCALE
setp hm2_7i76e.0.7i77.0.3.analogout1-minlim [JOINT_0]OUTPUT_MIN_LIMIT
setp hm2_7i76e.0.7i77.0.3.analogout1-maxlim [JOINT_0]OUTPUT_MAX_LIMIT

net x-output => hm2_7i76e.0.7i77.0.3.analogout0
net x-pos-cmd joint.0.motor-pos-cmd
net x-enable joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_7i76e.0.7i77.0.3.analogena

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

#setp hm2_7i76e.0.encoder.01.counter-mode 0
#setp hm2_7i76e.0.encoder.01.filter 1
#setp hm2_7i76e.0.encoder.01.index-invert 0
#setp hm2_7i76e.0.encoder.01.index-mask 0
#setp hm2_7i76e.0.encoder.01.index-mask-invert 0
#setp hm2_7i76e.0.encoder.01.scale [JOINT_0]ENCODER_SCALE

net x-pos-fb <= hm2_7i76e.0.encoder.01.position
net x-vel-fb <= hm2_7i76e.0.encoder.01.velocity
net x-pos-fb => joint.0.motor-pos-fb
net x-index-enable joint.0.index-enable <=> hm2_7i76e.0.encoder.01.index-enable
net x-pos-rawcounts <= hm2_7i76e.0.encoder.01.rawcounts

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

net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in

You should be aware that Linuxcnc is limited to 3 axis look ahead. I’m not sure what that looks like for you, sounds like maybe you’re going to lock out the X axis or the design has it centered over the chuck permanently. But if you’re planning to have XYZA, then know that motion may be jerky (running similar to 3+1), and will not be coordinated with the smooth transitions you’re probably used to seeing out of a 4/5 axis plasma cutter. This will probably be problematic for cut quality.

Of course do your own simulation/testing but wanted you to be aware of the limitations software side.

Pipe:
-up to 4 feet but generally no longer than 1 foot
-up to 10” possibly
-2 roller supports bearing the weight of the pipe

The torch will move on the Y axis and the Z axis. The pipe will rotate on the X axis

What length pipe?
What diameter pipe?
Moving torch or moving pipe?

I’m going to build a pipe cutting plasma. To spin the pipe it will be in a lathe chuck. What kind of motor should I use to spin the lathe chuck? The pipe will be very well supported as well as the chuck. So it won’t be too heavy on the chuck itself.

I'm concerned that a stepped motor might not provide enough strength, but I need something I can control precisely.

i think you are little bit wrong because of mapping... mapping is used to setup communication canal to shape which you need...

you can use legacy or mdp but there will be different temps for your program.. if you will use MDP, my profibus component will not work probably... I had to check them...  but for setup purposes of communication start it is OK

but all of them will need SDOs which tells the slave how to communicate with its master ...

It sounds like you're experiencing intermittent motor position errors, which can often happen with stepper motor setups due to following errors or configuration tuning.