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The error is this line:

loadrt hm2_[MESA](BOARD) config=" num_encoders=3 num_pwmgens=3 num_stepgens=0"

Remove it and add the config stanzas to:

loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="sserial_port_0=00000000 num_encoders=3 num_pwmgens=3"

The 7I95T uses the 7i95 name in hal files so 7i95 hal files will work with 7I95Ts without change.
 

Duplicate topic deleted.
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See the 7i96S manual for inputs, the inputs are isolated from the rest of the board. 7i96S inputs can be used as "switched to ground" or "switched to VCC" so wire them accordingly.
And disconnect the switches from +-5V, normally home/limit switches are powered from VField and usually from 24V as it is better to protect from interference's, but they will also work with 5V.