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Firm wire uploaded. 9 stepgen working.

Forget to tell, I'm using the axis GUI and PyVCP (copy/pasted the TAB command from the *.ini files)

Here is the report of the v3.0
 

Here is the report of the v2.0
 

I began the trying with the
"v3.0
Resizable touchscreen version for Python 3 and GTK3.
Compatible with LinuxCNC 2.9 onwards."
After that i tried the v2.0.
I will do it again with both and attach the report of both.
Because i don't remember which one I have attached previously.

The puma sim is in 'configs/sim/axis/vismach/puma' and the corresponding kinematic is in 'src/emc/kinematics/pumakins.c'.
That (like 'genserkins.c' ) is for 6 DOF.

For robot kinematic work I would recommend to update to 2.9.x as the switchable kinematic feature is very useful.

Thanks for your feedback. Is it mandatory to connect the parity pin for a binary encoder? Because the parity pin of my encoder is not connected.For a bidirectional rotation I had the same idea by muxing the output numbers but you need to know if the first rotation is in cw or ccw. We'll wait for andypugh and hope he sees our request. As for the solenoid, watching the video in slow motion, I get the impression that it's activated when the pre-indexing sensor changes state. So your solution may be valid.  

You can just play around with the device's pid settings . .. if it is very hard

step rate

Hello sir,
The drive has a step/dir position mode, but it does not mean that the step/dir position mode is prone to vibration during PID adjustment. It will not vibrate when it is in speed mode.

Ok, so I can use the THCAD2 to get arc voltage into controller, the reed relay and to get arc ok, and a relay to switch the trigger start. I was just about to give up on the idea of using my older shop plasma, only thing I think left to figure out is if my snapon plasma is a touch start, as non touch start seems to be important to use for a cnc?

Why not just use an old DB25 2 way parallel port switch?
Just make sure that there is a permanent (non-switched)
common ground between all systems:

www.amazon.com/CableWholesale-Way-Switch...Female/dp/B000I9B2K0

So I removed my custom.hal entirely and moved all the e-stop stuff to my main hal file, no dice. So I then moved the and0 and e-stop stuff to post-gui. Same result. There must be something with my INI or my main HAL file that is the problem.

I used gray code, because the turret I have is used and did not have the original encoder and that is why I manufactured my own encoder and I did it with gray which has the advantage of not needing a parity bit to verify the correct reading of the position as if A binary encoder needs it. The tool holder disc is locked internally with a disc with "nails", this disc retracts when the motor begins to rotate, releasing the tool holder disc and it begins to rotate, when the desired position is reached the preindex sensor is activated, This causes the solenoid to activate and it locks this disc with nails and in turn, reversing the direction of the motor causes this locking disc to move forward and so on. Lock the tool holder disc. Regarding using the bidirectional rotation, I have not tried it, unfortunately the carousel component only reverses the rotation of the motor automatically when the motor rotates forward, but when it rotates backwards, it does not reverse the rotation automatically, that is why I do not do it. I was able to implement, and the truth is I have not found how to save the initial direction of the rotation, to determine which way the motor should rotate later. In another thread I wrote to Andy, who was the one who created that component, to see if he could help me with the bidirectional solution, but I didn't get a response.   

No don't do that. You would be feeding 5v into the computer, and breaking all the smoke valves.

I'd design the system so that all that has to be changed is the cable to the breakout board, so all that is required to change is one db25 connection.

So you have a situation that the grbl board or PC controls the machine via the breakout board. So one connection to change. The breakout board is powered by a separate power supply.

This turned out to be quite a complex task. Firstly, you need firmware version 3.07 and board version 3.00 for the EtherCAT to work at all. But even with these, there are issues. I tried to run the drive in cyclic synchronous position mode and profile position mode, but so far nothing has worked. The drive is recognized, it reads the encoder position. I even calculated the necessary scale. It powers on and holds the position, but does not respond to the target position. I set the parameters for max speed and max torque. I tried through TwinCAT and LinuxCNC. Most likely, another parameter needs to be set besides 0-20 and 0-21.
I set a few more parameters to get the encoder working correctly, and maybe something else needs to be set?
Does anyone have experience starting this drive?

We are working out some issues with vtk and subroutine vindictive for to setting at the moment. The backplotter updates recently are not getting along with using T0 in subroutines if you are, and if Epping during tool touch of when it's temporarily switched to G59.3 also is causing an error. If any of these scenarios are where you are experiencing the vtk error please let us know!