The remote uses the RS422 protocol with a baud rate of 57600, configured for 8 data bits, no parity, and 1 stop bit (8N1).
For testing, I wrote a Python module to communicate with the remote via a COM-to-RS422 adapter, though I suspect it’s not very reliable.
My idea is to create a custom real-time LinuxCNC component, similar to the mesa_modbus component, and possibly use the internal hostmot2 C-API functions (hm2_pktuart_send(), hm2_pktuart_read(), and hm2_pktuart_setup()) to directly push and pull byte arrays into the FPGA’s transmit and receive FIFOs during the real-time servo thread.
