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The error when setting the update rate to 0 is that you cannot change it
after this has been done:

   "If you ever set the update rate to 0 (maximum), changing to a
    non-zero rate will not work (communication stops)"

I have no issue with the ioc32 running at 9600 baud at a .1 second update rate.

 The bug is in either Mesa modbus or the PKTUART driver, not the VHDL.
Most likely the drivers idea of the amount of read data does not match
the actual amount returned, so data from one module is mixed with the
previous or subsequent modules data.

It could also conceivably be a memory/stack issue in the modbus or PKTUART driver.

 

I start with 0.1 in hal file setting and does not work
if change it to 0 from halshow starts working but encoder reads crazy data.
Also if change functions order in vhdl pin file changes affected encoder number and pins.
Seems to be bug in vhdl because the functions order affects the encoder that is affected
in one config affected encoder.00.input-a and b
and in other config encoder.04.velocity and count.
Also when modbus device working the encoder reads crazy data when not working
by removing power supply/unwiring or stop it by setting update-hz to non zero
the same time stops the problem to encoder.
Seems like electric noise problem internaly in fpga
The same module works ok with mb2hal so it is not the module