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You should update whole LCNC to 2.9.4

@fully_defined
I'm sorry but I have grown tired of your antics. You have already been asked to leave once before and as you have stated ad nauseam that this forum has not been able to meet your expectations I would like to invite you again to find other places to seek whatever you are looking for.

thanks same error message with the modification

There are no normal encoders on TB3
(there are 4 MPG encoders but these are not suitable
for measuring frequency)

It would require different firmware to put standard
encoders on TB3 (7i96s_p1encd has 1 encoder on TB2 and
6 more on P1)

Your mesaflash command may have failed because either you have LinuxCNC running
or LinuxCNC did not exit cleanly. LinuxCNC blocks access to the Ethernet port it uses
when running.

The .pin file just a human readable file that  describes the firmware contents and
pin connections. Its made by running mesaflash's --readhmid command.

To make new firmware, one changes the PINXXXX.vhd file and re-compiles
the firmware source using the software toolchain for the particular FPGA.
 

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.