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I can make a configuration with UARTs but there is no direct hal support
for communication between two systems.

What other I/O do you need on the 7I94Ts?

How much data needs to be exchanged?

i get command not found on many of the commands from the text tutorial

Tomorrow I would like to get the 2 7i94ts to connect using a mesa uart connection. Not sure which firmware to flash. Had a look through the available ones but there isn't an obvious choice. 

PCW, is there one available, if so which one?

Thanks
Henk

Yes, in most cases, mesaflash is not needed as the installed firmware is sufficient.
 

Yes. Current stable version 2.9.4 ISO
I think that mesa and linuxcnc card experts may not have even noticed this. because they either knew where and how to download the updates without a problem. or they skipped this step altogether and did the configuration right away.