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The developer took pity on me and sent a stripped down version of his initialization code. It fails in exactly the same way. Maybe I'm doing something really fundamentally wrong, except that since the arc generator boots up successfully to OP makes me again suspect that the ECT and ECR models differ in some way not documented. This could explain why the developer - who know the system and code inside and out - can't get it working either...

Oh, as a sanity check, I swapped in a brand new ECR unit that's never been run - same issue.
Is there any way to request the error code from the slave via a Geany terminal, to have the system tell me why it's unhappy?

Hallo zusammen,ich habe einen Servoregler ERL PCSE200 ext. M24.42E PLE60-40 
Die Steuerung erfolgt normalerweise über CANopen, ich würde den Antrieb aber gerne über Step/Dir mit meiner Mesa 7i96S in LinuxCNC ansteuern (da ich noch weitere Achsen so betreibe).Am Gerät befindet sich ein 26-poliger Sub-D-Stecker für die Signale. Leider habe ich bisher keine Dokumentation zur Pinbelegung (STEP, DIR, ENABLE, GND, Versorgung etc.) gefunden.
Ich habe den Hersteller ERL bereits kontaktiert, aber vielleicht hat hier jemand im Forum die Unterlagen oder praktische Erfahrung mit diesem Regler.Besonders wichtig wäre für mich:

• Welche Pins sind STEP+, STEP–, DIR+, DIR–, ENABLE?
• Welche Logikpegel erwartet der Regler (5 V TTL oder 24 V / differenziell)?

Fotos vom Gerät (Typenschild, Anschlüsse, Platinenrückseite) kann ich bei Bedarf hochladen.Vielen Dank schon einmal für eure Unterstützung!Grüße Jochen

You can use a fast encoder for a MPG but one disadvantage of this is that fast encoders do not
support 1X mode, so if you want 1 increment of motion per MPG click you need to use the MPG encoders

langdons: It's an old PC from a sale for 10 euro - I don't know the type

PCW:
yes, inputs common is 5V GND ( TB4 / pin 7 GND  - is Stepmotor GND = power GND) - is sinking inputs

MPG wheel signal output are connected to ENCODER 4 (TB 2 / IN 9-13) and is configured in PNCONFG as MULTIHAND Wheel (foto) 

7i95T board has 6 fast (10 MHz) encoders, and 4 slowly encoders (TB6 / IN 0-7) which I left free.
I don't know if it can work like this, or if I have to connect the MPG wheel to the TB6 / (IN0/IN1,IN2/IN3,IN4/IN5.IN6,IN7)

Probably from the vfd module github.com/gitcoffey/l510_vfd/blob/c4e57...bd16/l510_vfd.c#L206
 

Hi, Here you can find a few rt-kernels:
drive.google.com/drive/folders/1JglCIPKv...roZcjOvr?usp=sharing

With the 6.1.115 kernel I'm still experimenting a bit to get full gpu acceleration, I think the 6.1.75 is a more safe choice. Then find/create an image from Armbian for example, install the kernel and the dtb of the same kernel version. Check /boot if the symlinks are correct, sometimes when it creates a new initramfs creates a link to the older version, so better to delete or move the other kernel versions to a another place.

With Armbian: when you choose for an image with Debian it's more easy to install LinuxCNC but you probably won't have VPU acceleration (1080p/1440p still works fine though)
With Ubuntu it's more easy to have VPU acceleration, but you'll have to compile LinuxCNC yourself (there's a manual).
With the mainline kernel you should expect that not everything works yet.

So make your choice, find download an image that fits to the kernel you want (Vendor 5.x or 6.x) or mainline. Install the kernel and dtb if it's not exact the same version.

For better latency values isolate the last core (isolcpus=7). With Armbian edit the extraargs line to add the kernel parameter:
sudo nano /boot/armbianEnv.txt
extraargs=cma=256M isolcpus=7
ctrl+x and press y following an enter to save.

In Debian to install linuxcnc:
sudo apt update; sudo apt install linuxcnc-uspace