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Gave up. Thankfully i had cloned the drive before i started and saved my config files.

[edit]
You seem to have had a working basic config here:
forum.linuxcnc.org/39-pncconf/52567-how-...r-6-dof-robot#299822

So I'm confused as to where you are in your process. Did you have a working setup with trivkins kinematics and now you have these problems after switching to genserkins?
 

That post was me figuring out the correct firmware and P1 BOB for the 7i96s to get the RC servo gripper working with RCpwm on a very basic machine.  I've only ever had the 6-DOF kinematics working with the sim. 

Thanks a lot for guiding me the upgrade path. I will try it and report back.
Its nice to hear that 2.9.3 and latest master can co exist on same system.

Yes. Unfortunetly you can not compare the prices the last years. Also the stms were really expensive... But I am happy so far. I have 24 IRAMs in total in my stock. So I will try to build the old design in the future.

Julian

I verifid the image download and is corrupt. Downlad a twice but result is same. You have other image?

The 7i97t_5abob firmware likely predates the PWM dither option
Here is firmware that includes the PWM dither option:

 

This also brings out the PWM direction pin (It was left as GPIO
on the previous firmware)

Note when connecting 7I97T P1 pins to a power device
(that will likely have large negative switching spikes)
Its a good idea to add a say 100 Ohm series resistor
to all P1 interface pins used to avoid damage to the
input clamp diodes

€250 sounds expensive. It might be interesting to get a quote for a batch of 50 from pcbastore.com (or jlcpcb)

Here are the quotes I got from various suppliers:
(but bear in mind this was for v4, and a few years ago, before chip famine)

 

There may be an issue with 32-bit counters. Many of the drivers internally store 32-bit HAL pins as 64 bit long int, but not all and I think that some Mesa drivers may be amongst them.

I might change all HAL pins to 64-bit for 2.10 (as I don't see any point in having both 32 bit and 64 bit at the same time). I think that can be done transparently in most cases.

Try this incantation at the command-line. It will give you a full set of pin and parameter names, without the complication of the rest of LinuxCNC.

Everything that is in the HAL file can be run interactively at the command line. Which is often very useful when debugging.

I have managed to run it. But it took some work.

I plan to update the others in the same way tomorrow.

It's mainly a case of loading the ui into a newer version of glade and then re-saving.

What I’m trying to do is to hook up a bts7690 h bridge to drive a dc motor.
So i think need more than just gpio. I was under the impression I could treat it like a parallel port using pwmgen/stepgen.
If i load the firmware 7i97t_5abobd.bin(the only choice I see in  mesact for bob) linuxcnc fails to load with the message-
hm2_7i97.0.pwmgen.00.dither not found.
Which is for my servos that are connected to the 7i97, not the bob.

If I just ignore that for now, I see 
Io pin 036 (p-1-04/DB25-15): StepGen #0, pin Step (output)
How would that look in Hal?
hm2_7197.0.stepgen.00?
If I wanted to use a pwm, I’d need a firmware that starts at pwmgen #07? since pwmgen.00-.06 are already used for the 9t97?

I will potentially get a different bob and replace the dc motor with a stepper/servo and driver, but I’m just messing around with what I have, trying to learn something.  

when your plan is not to ay any more tools before moving...
but your wife drags you to a garage sale...

I tried to build a custom component like this. It looks pretty good at the moment.
It works like this:
if input0 and 1 are active, the lube on timer starts and the output.
If the lubrication time has elapsed, the output switches off.
A pressure switch connection is also possible with input2.
After the lubrication time has been reached, the pressure switch is expected for 5 seconds (pressure time).
If it is not high, the alarm output is set, which you can then connect to messages. It works very well in my simulator.
Maybe it will help you.to install the component, save the lube.comp file and then
"sudo halcompile --install lube.comp"or follow Andy's link.
And for the connection in hal, is an example in custom_postgui.hal.
lube on and off time is adjustable with these pins
setp lube.0.lubeon 10 -> 10 seconds lube time 
setp lube.0.lubeoff 600 -> 10 min off time

expected pressure time is adjustable with this pin
setp lube.0.pressuretime 5 -> 5 seconds expected the pressure switch high on input2 I guess o good monitoring. If to much you could decrease

Error when trying to open a standard pawn turning file. This error appears only in the turning configuration.
In the milling configuration, there are no problems when starting 3D_Chips.ngc.  Pls, help me.
Debian 12.6 + linuxcnc 2.9.3 from .deb install + probe basic apt install

also, tried on another pc, same issue.