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You would connect the joint.n.motor-pos-cmd to the controlling
hardware (PWMgen etc)

You would need to loop back joint.n.motor-pos-cmd to
joint.n.motor-pos-fb

You may also need the scale component unless the controlling
hardware has offset and scale parameters.

PCW wrote:

The number of available encoders depends on the firmware and pin/FPGA size limitations.The 7i96s_p1encd firmware has 7 encoders: 0..6. They are all basically identical(except encoder 6 has no index input pin due to lack of pins)Here are all the encoder 4 pins and parameters (using 7i96s_p1encd firmware): 

  
 

 

That's good news.
I'm a little confused with the 7196s pin assignments associated with the encoders. Ideally there would be 4 encoders assigned to the P1 expansion port and 2 to the TB3 inputs. The two on the TB3, don't actually have to be quadrature inputs, because those two will simple be driven with a simple square wave .IIRC 7i96s pin assignment can be tweaked by editing 7i96s_p1encd.pin?

Can I simply edit that file, and if so how would I assign the last two encoders to TB3 pins?

I thought I could get the latest pin assignment with: 
mesaflash --device 7I96s --addr 10.10.10.10 --readhmid

However I get and error (see attached) when I try that.
 

Yes I am referring normal rc servo with 180 degree of motion.
How can I assign these servos axis. So that I can control like nomal axis movement and i can use genserkins

Do you mean the normal limited motion range RC servos?

They should works with direct joint position commands
(with appropriate offsets,  and scales), like any position mode
actuator.

How can i use Rcservo as axis? I want to drive 6dof robotic arm which has 8 steppers. One for each joint except 2 for shoulder and one for gripper. I have seen example of driving rcservo using pwmgen. That can drive servos, but I want know how to use these servos as axis.
Any help will be highly appreciated.

Hello LinuxCNC Forum,I hope I categorized this topic correctly. I have been using LinuxCNC for my mini lathe for six years, and it is working great. Recently, I came into contact with commercial CNC controls (Heidenhain and Siemens) while writing my thesis at the university. Some of them have a great user experience and good ergonomics. My goal is to build my own HMI based on Gmoccapy that is easy to use and ergonomic.But now the question has arisen: what makes an HMI really good, and are touch controls really the way to go? Which functions should have their dedicated hardware button, and which ones should be accessible via softkeys? The overall size of the display is also a topic where I am not sure.I hope that your additional inputs help me to create a usable HMI.

PCW-
As I mentioned, I have a Mesa 7i92. Is there a hardware encoder that's compatible with this that you'd recommend? I don't have quardrature, just an index and A signal.

Your current encoder should be fine but you need to use firmware that has a hardware encoder
and wire the (5V!) encoder signals to the 7I92 encoder inputs.

Actually, that is not such an easy question to answer.

1. Traditionally it would be the developers mailing list:
sourceforge.net/p/emc/mailman/emc-developers/

(Although it seems the number of people actively participating in discussions has dwindled drastically in the last couple of years.)

2. If you already have a proposed change then a pull request on github is the best way to get noticed.

3. Posting questions on the forum will certainly give you exposure to a sizable number of readers but how many of those would be aware of the whole picture I cannot say. Still worth a try though.

[edit]
Seems to me that this could maybe be handled in a custom kinematic component.

There are several ways of contacting developers as listed here
linuxcnc.org/community/
Many of then are often on IRC.
Thank you.

Why is your hal scope running at 250Hz? It usually runs at 1000Hz.
And yes, i had issues with cheap BOB's so i stopped using them, some could not do 5KHz properly, but i do have one that uses no optos and is very fast but consequently lacks isolation, hence it also collects dust in the shop.
Some things to notice, BOB's are almost always 5V devices, putting 24V encoders on the inputs might not be healthy for the optos, but again, depending on how they are wired, might also be perfectly OK.
How do the pulses look on the output of optos AND Mesa inputs?

Well, I am working on spindle temperature compensation and I would like to discuss some details regarding changes in source code.
I want the compensation mechanism to be fully transparent to User, so that no coordinates presented to user would change. This indeed requires modification of LinuxCNC code base. I am fully capable to do these changes, but instead of reinventing the wheel by studying the whole source code, I would rather like to get advice from someone who is aware of the whole picture. 
Is this forum able to help? Or should I ask for help on Github?
Thank you!
Peter

I am in the Windows trap since many years ago when Alibre Design had a good price of 99$ and at that time Windows was good.
For many years I bought the updates to Alibre Design.

Now I have a lot of job files in Alibre Design™ Expert Version: V25 64-bit, have been looking at FreeCAD and have ‘recently’ learnt the CAM part of FreeCAD to get the NC files.

Then the software for running my 3D scanners:
Revopoint3d: Windows, Mac, IOS and Android
scandimension: Windows and Mac
Creality: Windows and Android

So it's not just jumping over to Linux and Mac doesn't appeal to me.
The day Alibre Design and the software to connect the 3D scanners to get the data is in Linux, then I can switch away from Windows.

Translated with DeepL.com (free version)

Datron is gona be pissed....

Thanks for the feedback.

Tommylight-
I don't think it's the optoisolators. They're supposedly good to 80 kHz. Also, I confirmed with an oscilloscope the opto input AND output signals are present up to 3,000 RPM (9kHz), and it all looks to be working. The optos are certainly inexpensive 817C. Do you have specific experience with this being a problem?

PCW-
As I mentioned, I have a Mesa 7i92. Is there a hardware encoder that's compatible with this that you'd recommend? I don't have quardrature, just an index and A signal.

If the DC motor still has the original encoder, then its 5V differential with 500ppr.