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On the 7I96S there are 4 MPG channels built in with any standard firmware
These use the isolated inputs 0..7 but do not interfere with normal input use.

The count pins on the isolated I/O are:

hm2_7i96s.0.inm.00.enc0-count
hm2_7i96s.0.inm.00.enc1-count
hm2_7i96s.0.inm.00.enc2-count
hm2_7i96s.0.inm.00.enc3-count

There is also 7I96S firmware that puts MPG encoders on P1:

7i96sd_mpgp1.bin

Its MPG encoder count pins on P1 are:

hm2_7i96s.0.inm.01.enc0-count
hm2_7i96s.0.inm.01.enc1-count
hm2_7i96s.0.inm.01.enc2-count
hm2_7i96s.0.inm.01.enc3-count

These are additional to the MPG inputs available on the isolated I/O

If you are using buttons/MPG on P1, the  7i96sd_mpgp1.bin
is probably the best as it also uses the INM module so has built-in
debounce on all inputs.

1. What Ethernet chip does the host PC have?

2. What is the result of running:

sudo chrt 99 ping -i .001 -q -c 60000 [fpga_card_ip_address]

[fpga_card_ip_address] = 10.10.10.10 or 192.168.1.121 depending on card setup

The command will run for 1 minute and print Ethernet timing statistics

I ask about the Ethernet chip type because more recent kernels have a Realtek driver
that has terrible real time performance and must typically be replaced by the DKMS
driver.

 I just tried to force back with Synaptic Package Manager, and got an error.see attached.

For some time now I've enjoyed a stable system created using the LinuxCNC 2.8.2 Debian 10 PREEMPT-RT ISO.   But now that I've upgraded to Debian 12 (I wanted to install a package unrelated to LinuxCNC, and the Debian 10 repository is no longer supported), things have fallen apart.  After the transition, LinuxCNC was still present, but it would not launch.  I assumed that this was because it had run in kernel space in my original system and so was treated specially (e.g. executable not in "bin").  Was this so?  In any case I installed linux-uspace.  It launches as expected, but unfortunately produces a string of error pop-ups:  "Smart Serial Port 0: Dolt not cleared from previous servo thread", "Error finishing read", and so on.

The hardware and BIOS are exactly as they were when things worked perfectly. LinuxCNC is 2.9.5 and the kernel is 6.1.0_39_rt_amd64.  Pinging the Mesa card gives consistent times of .125msec.  The latency looks generally  reasonable, but the histograms show a significant number of extreme outliers (???).

 

Can anybody help?  I feel that its probably a case of some option not being set correctly (i.e. the kernel isn't really pre-empting, LinuxCNC doesn't have the highest priority, or something such).  What might be missing somewhere in some configuration file?

There's also a little matter of the Axis window not maximizing, but this is a relatively minor concern.

 

Okay, so would the equivalent allow it to become operational?
Do you have a little more guidance as to what I'm looking for, because I still don't really understand what I'm looking at or for. I have a list of seemingly all of this drives pdos/sdos and their descriptions.
The manual says the drives conform to CiA402, but I don't know what all that standard includes-I assume based on your comment that the registers are separate from the standard?

Thanks Rod

When AI reports info from a post of mine on the forum, you know it at best is only superficial.
There is an example in the docs on a mpg using an encoder. It is easy to convert to a Mesa MPG encoder input but I think on the 7i96s you need extra firmware from mesa web site and forgo some I/O pins.

With a safety relay, usually you would implement a momentary latch button to enable the relay.
Then a  pin on the relay should be connected to  iocontrol.0.emc-enable-in to tell linuxcnc the machine is enabled.
You will still need to press the machine on button in axis.

Also, if you don't have the external latch button, you can use iocontrol.0.user-request-enable instead. COnnect to the pilz latch. It sends a momentary latch signal to the relay when you enable linuxcnc
 

LinuxCNC-RIO - Mesa 7c81 - 7.14 KHz loop - 4x400W AC-Servos

www.youtube.com/shorts/DAJdqbjLjDQ

0x2000 and 0x2011 seem to just not exist
This could be correct as these are from a manufacturer specific range so not CIA402 registers. . You need to review the manual for your drive