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Yep cool, I am thinking of things like feedrate override, jog speed, rapid override etc nothing "realtime". We have noticed Modbus is slow with general IO, horses for courses I guess.

I've had more electronic parts turn up today so I plan to get busy on the weekend and start testing Riosub over the next few weeks. I've got 4 and 6 axis closed loop controller boards ready to test, both with dual Modbus connections and shift register out, so I can trial multiple combinations... will keep you posted. 

Cheers,
Russell.