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Sorry I can not really help, but searching for infos on my Baruffaldi RH80 I found some infos in the internet that can at least help to identify Baruffaldi toolchangers and show some of the interior, nothing to technical- just pictures of a brochure. But might be potentially helpful for anyone searching for infos on his Baruffaldi TC:

As I mentioned. First I am trying to test it with a4988/drv8825 drivers. That's why I didn't loaded tmc5160 modules. Testing it in step/dir mode only

Hi, LinuxCNC is very capable of handling this configuration with 4 joints and a X Y Y Z configuration. Check out the config below for my 3D printer that has dual Z axes.

github.com/scottalford75/Remora/tree/mai...figSamples/hypercube

The two joints won't jog together until they have been homed. I've found that out the hard way...

Yes, but the pncconf spindle setup also works with other devices with fixed 10V or +-10V  full scale
(7I77,7I76,7I83 etc)

It really should have an additional field for potentiometer type outputs based on the card type
Maybe "Full Scale Analog Output" and "Voltage For Maximum RPM" or some such

Thanks PCW! The quick reply saved me much head scratching. I will admit that I find this area of the setup a little confusing. Isn't the Mesa 'Spindle Out' voltage fully defined by the input Spindle+ and Spindle- values? Given a potentiometer wiper can never have a voltage higher than its input, what is the need for specifying the 'analog Max Voltage' at all?

Yeah I've seen it before, I believe it's a bug with the version of Mesa you're using.
Compiling a new version of mesa with panfrost would likely solve it.
Otherwise I'd suggest to take a new Armbian image and install the 6.1.115 kernel from: drive.google.com/drive/folders/1sPtbXDfx...WCB8o-ur0CINmMNvcjTQ

With the overlay "opi5plus-fixedfreq-undervolt.dts" it has a very low latency. You only need to remove the "-plus" at comparability and after that install it with "sudo armbian-add-overlay opi5plus-fixedfreq-undervolt.dts"