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Cool. Thinking about it more, I'm wondering if I should just get a basic generic parallel port card, since I probably don't need fancy FPGA stuff for an MPG and some override switches. I guess I'm just remembering how much better my little cnc conversion runs on the mesa vs the parport. It seems with ethercat, most of that becomes irrelevant.

doing some test I got this question. what is wrong with this script ?

# =============================================
# Configuración básica de hardware y componentes
# =============================================
loadrt hostmot2
loadrt hm2_rpspi config="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxxxx"
setp hm2_7c80.0.watchdog.timeout_ns 5000000
loadusr -W hal_input -KRAL GreenAsia

# =============================================
# Componentes para control y filtrado
# =============================================
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt mux16 names=jogspeed,mvoincr

# Componentes para cálculo de velocidad/aceleración
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
loadrt hypot names=vel_xy,vel_xyz

# =============================================
# Hilos de ejecución en tiempo real
# =============================================
addf hm2_7c80.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# Hilos para PID
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.b.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread

# Hilos para utilidades
addf jogspeed servo-thread
addf mvoincr servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread

# Hilos para cálculo de velocidad
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread

addf hm2_7c80.0.write servo-thread

# =============================================
# Configuración de hardware Mesa 7i80
# =============================================
setp hm2_7c80.0.dpll.01.timer-us -50
setp hm2_7c80.0.stepgen.timer-number 1

# =============================================
# Configuración del eje X (ejemplo para servomotor)
# =============================================
# Parámetros PID
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
setp pid.x.maxerror 0.000500

# Conexiones PID
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

# Configuración StepGen para servo (modo velocidad)
setp hm2_7c80.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7c80.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7c80.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7c80.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7c80.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7c80.0.stepgen.00.step_type 0
setp hm2_7c80.0.stepgen.00.control-type 1 # Modo velocidad
setp hm2_7c80.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7c80.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

# Conexiones para control en lazo cerrado
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output => hm2_7c80.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7c80.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7c80.0.stepgen.00.enable

# =============================================
# Cálculo de velocidad/aceleración con ddt
# =============================================
# Conexiones para eje X
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out

# Conexiones para ejes Y y Z (similar a X)
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out

net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out

# Ejes rotacionales (sin ddt)
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb

# Velocidades cartesianas combinadas
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out

# =============================================
# Habilitar hardware
# =============================================
setp hm2_7c80.0.stepgen.00.enable 1


Do hit the right way to get the 5 axis cnc configure ?
can someone help me with it?

thanks!!

For anybody with the same problem.
It seems that the Site for the Key is down.
I at least get a 404 when opening the site.

Got it working with
apt-get update --allow-insecure-repositories

I suspect the answer to the Subject's question is "no", since I've found no reference anywhere (except on a very old sourceforge thread) to "MDI_COMMAND0", "MDI_COMMAND1", etc.

But is there any reason the HALUI section, and the code that reads it, couldn't be enhanced to allow that?  It would be nice not to have to worry about ordering.  It would also make the .ini file more "standards compliant" -- it's highly unusual to have multiple values with the same key in an ini file.  The crudini command, for example, will toss all but the last such entry.   

I can only do ``Jog``, nothing happens in MDI select, there are letter markings but I don't have instructions for programming certain steps, the machine has no home, only limit switches and measuring scales ttl, that's why I was interested if anyone knew what type of driver it is due to the possible retention of the existing motors if I do a retrofit.

Did you ever get the spindle working? I see it’s been a few years. I sort of gave up on mine, I probably spent a few weeks with a Moeller VFD and it’s 375 page manual and got no were. be very interested in hearing of a working Yaskawa spindle motor with modern vfd.

Got a pic from the ebay guy about the steppers:
D42HSC1413B-24
A quick search didn't bring up something useful, other than me guessing it is a cheap china copy of a nema stepper.

Also, inducution motors generally need to be relubricated every 10 years of normal service.

Because yours is a totally enclosed motor, you have to disassemble it to oil it.

Update: I'm making progress toward my goal. Here's a new screenshot of the burst transfer rate. I've moved away from Arduino IDE and switched to using the Pico-SDK and VS Code for coding. Added serial terminal to the code to set the IP address later without coding, the Pico now uses DMA and Burst SPI data transfer instead of byte-by-byte transfer. I don’t think I can push the transfer rate any further. Unfortunately, neither the PCB nor the components have arrived yet, so I can’t proceed with the I/O. In the meantime, I’ve started experimenting with the step generator.
 

Working with a Pi 5 and the LinuxCNC 2.9.4 image

Hey.
I've been trying to get a 7i95T to work but cant seem to get a working config.
After reading on the forums, that the Mesact helps out a lot i wanted to give it a try but it seems, that i'm doing something wrong installing it.
I'm guessing that i am missing the public key

This is the error it gives me:
Thank you for your help.

Did a bit of testing with the PC i have lying around (mostly Thinkpads). The old Panasonic thoughbook seems to have died.
My TP x220 (nearly all peripheral deactivated in the BIOS) does the latency test with just not exceeding 35000.
What I still not understand is the complete chain of devices from PC to the machine. As I understand it:
The budget way: 3 TB6600 connected directly over parallel port to the PC (limits the router to what the PC can process (limiting point is the latency)
The more expensive , but higher performance way:
a mesa ethernet card (FPGA doing most of the latency related stuff) connected to (more expensive and powerfull) stepper drivers.

What I seem to miss is the point of the daughter/ I/O boards (like 7i78, 7i76). Are those additional boards to have more options like (spindel speed/ on/off, peripherals like dust collector, air assist etc) or to those have the stepper drivers included).
Please let me know, if those info is somewhere in docs and I managed to miss that.

Yesterday I changed it to a NVIDIA Quadro NVS 450 I had on hand ... and now it's seems to be fine : I loaded all my files again and again with no problem.

I don't remeber what was the old CG but I will have a look next time I'll go my wookshop.

This was it!
Thank you very much