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Alright, I'm getting really close now (I think), but I'm to a point where I'm not 100% sure what the deal is. Unfortunately, the pin I needed to use for the QEI encoder module happens to be a bad pin on my SKR 1.4 Turbo apparently. I can't get it to pull high. I may have messed it up years ago trying to get neopixel LEDs working, I don't know. I set up a new pin as a digital input on the Y limit connector (Pin 1.28) and simply mapped the index pulse to that pin in my hal file. I'm seeing what appears to be a solid pulse in halscope. I'm also seeing it trigger on the phaseZ and index-enable pins. However, every time trying to do a threading operation, my program hangs at what appears to be waiting on the index pulse. I know the documentation states that the pins are pre-assigned and can't be changed, but I figured the index was handled differently since it included the remora.input.N is mapped in hal, but maybe something on the backend with the way the QEI encoder is handled. I apologize in advance if my HAL and INI look messy but everything else seems to work. I had to set my servo thread to 2000000 to get around the unexpected real-time delay error, but my latency in histogram --nobase seems great with isolcpus 1,2,3 on the Pi 4. I did try running the program with the servo period set to 1000000 in my INI just to see if that had something to do with a timing issue when registering the index-enable true when Linuxcnc expects to see it, but, it didn't work. Just about everything else seems to be working. Anyways here's my HAL again, my INI, and my config.txt

Did you enable 2 PWMGens in the hal file?

Success.  I went with LMDE6 and the install went much smoother.  Upgraded to 2.10 and can run a qtplasmac sim. 

Hello PCW,
I flashed my 7i96s with 7i96s_2pwmd.bin and put this line to my custom.hal:

# invert pwm output
setp hm2_7i96s.0.pwmgen.01.out0.invert_output true.

When I start linuxcnc i get the error message
"parameter hm2_7i96s.0.pwmgen.01.out0.invert_output not found"

The hmid-output looks correct:
TB2 2,3 25 IOPort PWM 1 PWM (Out)
TB2 4.5 26 IOPort None

Can you post a halscope plot of: 

1 Joint velocity
2. Joint following error

it's a static error. But when I put “I” > 1 I get a joint tracking error.

Put 1 resistor on each cable, much safer.
www.mouser.de/ProductDetail/Vishay-Dale/...rmWJGO8s8TXMfjOoM%3D

Thanks Ben, I tried your suggestion but the behaviour is the same. Works in Velocity mode but not in Step mode.
I spent the morning looking at signals with halmeter but I cannot figure this out.

Thanks for taking your time to look into this.

Never mind, I found the issue. It was my fault I mis-wired one of the pins on the bob.Great learning experience with the LinuxCNC software digging through the particulars! You guys pointed me in the right direction, much appreciated!

Hi PCW:

Thanks for your reply.
When you mentioned: "So if you don't have dual homing switches you need to setup immediate homing"...can you tell me more about that please?

Thanks for your help and support! I set up my parallel port in the step config just as your image above. I have my motors and bob set up on my desk as a test set up to work out the set up without injury to my machine. In a real world application Id need to be able to jog my Y axis (both motors driven at same time) tgether at once. Would I need to set up something in one of the hal or ini files?

Thanks again for your help.

Thanks.

So I could open the Plasma source, cut the cable behind the THC-plug and solder 2 x 1MegaOhm in series of the negative cable and put a shrink tubing over the 2 resistors ?

Is there an alternative to the 1MegaOhm-resistor ? I ask because in the mesanet-store it shows me over 200$ shipping-cost for the 3 resistors and there is an error when the website calculates shipping costs to germany.

If I interpret this correctly then it was added in 2.9pre:
github.com/LinuxCNC/linuxcnc/commit/3d00...37be66c946acc972636e

Ahh... that's where the Forum poster

(forum.linuxcnc.org/24-hal-components/566...6eu-hal-and-ini-file) 

got 2.9 pre

The HM2_eth driver from that version also has bugs with 7I76EU configs
(it gets the name wrong)
 

My guess is this was added sometime after 2.9.pre but the docs are quite confusing stating 2.9.y which means nothing to me.

JT

I tried 2.9.pre (the one that you get from Debian) and 2.9.1 from a deb I downloaded and adding them to an Axis ini file and they do not limit anything. I put MAX_FORWARD_VELOCITY = 100 and can do a m3s50000 and it sets the spindle speed to 50000

JT