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I would still appreciate knowing how to call anyone of these routines without going through the entire program.

You can call any subroutine in a loaded program from MDI (eg 'o100 call')

Also how to set the Z after the tool change.

Do you mean the tool-length offset or the work-offset?

The currently active work offset can be changed like this:
'G10 L20 P0 z123'

What about the "rawcounts"? when i quickly had a look at them in halscope they seemed to have "0" at a fixed location, do you think that's something i could use in some way?

Is dist-upgrade ever a good idea?

Yes, when you download an ISO, it might be several months old, so that will update to the latest stuff for that distro, including kernels and stuff that "might break things".

pgf wrote:

p.s. Best tech support ever...

Yes he/it is.

The STEP/DIR output voltage will be the 7I96 5V supply voltage
if there is no load. Any load will lower the output voltage.
So it could be low supply voltage, or a load on the output
The output resistance is around 50 Ohms so a 10 mA load will drop
the output voltage by about 0.5V

ahhh thanks pete!  i just came across that just a few minutes ago. i thought that looked suspect. must be a bug in jt’s config tool because thats straight out of mesaCT. 

quick question, any reason i cant get more than 4.45v out of my pwm?  ive checked everything on the hardware side and its all good there. no matter what i do, i cant get more than 4.45v max from the pwm

Dont merge anything just yet. me and my friend have spent the last 3 days trying to figure out the shit outta this problem. we have environment configured, we can switch uart, but we are very stuck and out of ideas. We are trying to switch SPI channels from 1 to 2 and/or 4, but we just dont know what variable we are missing/not configured. It works mostly but the MOSI doesnt seem to work but the MISO does. SPI1 works fine, but we cant figure out how to switch to 2

github.com/cakeslob/Remora-STM32H7xx-PIO/tree/h723
github.com/cakeslob/Remora-STM32H7xx-PIO/tree/spi4

No outputs are GPIO

7I96 isolated output hal pins are:

hm2_7i96s.0.ssr.00.out-00
hm2_7i96s.0.ssr.00.out-01
hm2_7i96s.0.ssr.00.out-02
hm2_7i96s.0.ssr.00.out-03
hm2_7i96s.0.ssr.00.out-04
hm2_7i96s.0.ssr.00.out-05