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PCW wrote:

If by daughtercard you mean the 7I84U, any firmware with a sserial port will do.

(basically and 7I96S firmware that does not use the serial expansion for modbus etc)

Yep, the 7I84U would be the daughtercard to the 7I96s. 
OK, I will try making it work with the FW you linked above.
As an aside, I have it downloaded already but have a bit of an issue making it show up in MesaCT even though I think it's in the right folder, but that's probably just me still overseeing something - will read some more posts and/or try mesaflash in the terminal. 

I'm new here and have same servo so decide to try your setup files. I was not able to achieve success with your files like MWalz did.
Maybe you can help me? Here is my output:
Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc/modules
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/lib/tcltk/linuxcnc/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
LINUXCNC - 2.9.3
Machine configuration directory is '/home/cnc/linuxcnc/configs/v2xt'
Machine configuration file is 'EtherCat_2025-01-13.ini'
INIFILE=/home/cnc/linuxcnc/configs/v2xt/EtherCat_2025-01-13.ini
VERSION=1.1
PARAMETER_FILE=linuxcnc.var
TPMOD=
HOMEMOD=
TASK=milltask
HALUI=halui
DISPLAY=axis
COORDINATES=X
KINEMATICS=trivkins coordinates=X kinstype=BOTH
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
emc/iotask/ioControl.cc 786: can't load tool table.
linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
Found file(REL): ./Basic.hal
Starting TASK program: milltask
Starting DISPLAY program: axis
Shutting down and cleaning up LinuxCNC...
Running HAL shutdown script
task: 126 cycles, min=0.000004, max=0.013546, avg=0.008413, 0 latency excursions (> 10x expected cycle time of 0.010000s)
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
note: MAXV max: 250.000 units/sec 15000.000 units/min
note: LJOG max: 250.000 units/sec 15000.000 units/min
note: LJOG default: 5.000 units/sec 300.000 units/min
note: jog_order='X'
note: jog_invert=set()
Could not open command file 'custom_postgui.hal'
Could not open command file 'shutdown.hal'
101766
101796
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

Yeah the whole switch from Ubuntu to Debian cost me a ton of money. I'm a Linux guy myself and I can work in any Linux distro even if it hurts my eyes, but we couldn't do that to our customers, most of whom are scared of Linux in the first place. We stayed on 2.6 until UEFI forced us to update to 2.8 and then again when parallel ports finally dried up and mesa cards forced us onto 2.9. Now PC motherboards are almost obsolete in general, and the switch to rpi was forced, but has actually been pleasant thanks to a lot of yours efforts

And finally for up to date info on the RPi and the images please jump to:
forum.linuxcnc.org/9-installing-linuxcnc...the-rpasberry-pi-4-5

Hopefully this will end up as a one stop for most issues and advice.

Regarding Network Manager

This will install the panel applet and network-manager making managed networking easier to setup.

For a description on networking the debian way.
wiki.debian.org/NetworkManager

I'll admit I'm not a huge fan of the std xfce panel setup, but that's easy enough to change.
Actually I prefer MATE and have made images for myself with the MATE desktop without any of the XFCE4 hangover, but it is simple enough to install MATE on the std linuxcnc image, whether amd64 or arm64.

With regards to wifi & networking in general.installs network manager & the gnome applet. The reason this has been left out is because there were some latency issues, I think with the 12.x series being far better this is not such an issue.
I like the gnome applet as I like to turn wifi off when running Linuxcnc.

If a touch screen enumerates as HID it will just work. As the images we build use the RPi-Linux sources it may be a kernel module that isn't included in our build to support non HID touchscreens.
On screen keyboard, just a package we don't include.
Reasons for not using RPIOS, the fact that it uses wayland as a default and X compatibility layer is very slow, so slow that there is a significant difference when running latency tests between wayland (as stock) and changing to X.
Branding is also an issue, something I really want to deal with. Debian isn't so restrictive, hence the reason the PC images changed from Ubuntu to Debian.

There is also a thread some where on the forum regarding Linuxcnc on RPIOS. The topic author slips my mind at this moment.