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It's a question that I've been asking myself for quite a while. Linear interpolation is quite limited in its accuracy as well as its ability to maintain constant velocity. Have there been any attempts to replace that with higher order polynomials / b-splines / NURBS etc? I saw the recent great achievement to implement s-curve acceleration (add a setting for jerk), but here I'm thinking more about directly improving the motion planner. I understand that this is significantly more resource intensive, but honestly, for a modern PC it should be trivial to compute.

I am still working on the servo load bars. In Dmitry's axis config for his VTC20, he has net trq5 nyx.0.servo-05.trq-fb => pyvcp.trq5 in nyx-6-pgui.hal (servo 05 is spindle in our VTC setups) so I was going to try to work with that. I just haven't tracked down nyx.0.servo-05.trq-fb yet to see if its a preconfigured input or if it has to be created.

Somehow i just lust my long winded reply to your suggestion...
short form: I would be happy to find some form of documentation to get that sserial port config done. .9serial and hostmot2 documentation don´t help me at all unforuntately

"sserial_port_0=0000000F" should open up channel 0-2 for 7i77 in mode 0 and 3 for 7i84U in Mode 0

no sserial device answers to

"show param hm2_5i25.0.sserial.port-0.device-count"

i am pretty much out of my depth setting up that smart serial connection

I'm not aware of  a 'UNITS' or 'DEFAULT_UNITS' key:
linuxcnc.org/docs/stable/html/config/ini-config.html

same for 'GEOMETRY_UNITS'

[edit]
But I guess those lines come from this:

chatted with chatgpt for a few hours