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Fixed the link formatting.

Not sure what has happened to that link? but it still works?

Hi Stenly, I bought these Signal converter . They cost a lot more than I wanted to spend but at the time I thought I was going to get it going quicker. Approx $130USD each. The Aikron ones might be worth the gamble. Or if you are more tech savvy than I am currently then the ones jochen has linked would be a option. Here is their reply to my email for the ones I bought.

"Your calculations are very helpful.  The HEIDENHAIN LS 486C has a 20µm resolution glass which, as you correctly calculated, will produce a 10Khz signal at 12m/min.  I have attached a data sheet showing the federate limits of each interpolation version for your reference.  You can choose any interpolation option from 0.5x to 5x.  The 5x interpolation model (SA 1872) will provide you with a 1µm TTL output signal. "

In all likelihood they just have the chip jochen has linked

Got it to build. The install script, as far as I can tell it doesn't bring in libclothoid3d and libscurve
When I did that manually (path here forum.linuxcnc.org/38-general-linuxcnc-q...orm?start=170#323932) and copied that to the empty directories the code builds.

Thank you! That did the trick!
I'm currently getting familiar with the HAL Scope.

After displaying the encoder position and the stepgen feedback position, I noticed that the stepgen was counting positive while moving in the positive direction.
I corrected this by adding a minus sign in front of the STEP_SCALE.

However, this caused the motor to spin in the positive direction during homing.
I fixed that by removing the negative signs from the homing and latching velocities.
There probably is a nice way to fix that, isn't there?

Edit: I've added working .hal and .ini files for future Reference. (only X has encoder feedback)

The thing is a newer kernel will only have better performance if there has been significant changes in the area that are being used in your application. Changes to filesystems you don't use, drivers you don't or in architectures you don't use don't expect any improvements.
To be really sure you have to read change logs and stuff like that to be sure. Newer may very well be the same as what was supplied with the Linuxcnc ISO.
Oh and don't run any other network services that you use for your motion controller, in your case you should have a dedicated NIC for Remora and another for everything else.
I still don't know why people insist on using 3rd party remote desktop clients when X is actually was designed from networking from the beginning and there are plenty of available clients and servers in the distro repos that have been time tested.
Running a CNC machine remotely is a another kettle of fish. If you need to do remote admin use SSH and learn to get comfortable with the command line.

Yes, the field I/O section of a 7I76 is a Sserial device (basically a 7I84 but local)

Hi PCW
Yes, I did set it to zero
I did not know that Smart Serial Ports were needed to make anything io cards work.
I thought Smart Serial IO was to link via serial connectivity to some kind of remote daughter board.
I shall search on the forum to find out more about it.
Many thanks for your help
Much appreciated.