UPGRADE TO LINUXCNC 2.9 & MESA 7I97 (CINCINNATI Acramatic 2100 &MILACRON BDS4)

I would suggest not updating the firmware at all
unless you need to support one of listed daughtercards (7I85 etc)

If you need help wiring and testing stuff, start here
forum.linuxcnc.org/10-advanced-configura...ning-detailed-how-to
No skipping, and do not wire everything at once, there is detailed info there.

You must have encoder feedback as that is position feedback.
Velocity feedback by itself will result in slow drift and loss of position.

pncconf does not support the 7I97/7I97T but you can use mesact
instead (see the mesact section of the forum)

Alternatively here is a basic hal/ini file set, note that you still
need to go through the tuning/setup guide that tommylight
posted a link to, and edit the ini file to set your machine parameters
plus edit the hal file to make it match your limit/home/spindle
etc setup.

 
 

Note that even though pncconfs discovery option will find the card
it will not setup the PWM properly or allow setup of the digital inputs
This is why I provided the example 7I97 hal/ini files

If you do have resolvers in the system, it is likely that they  connect to the drives

Have you been able to find a manual for the drives?

EDIT:
There do seem to be drive manuals available. I took a look at one
and I did not see any encoder output but its possible that that is an option.

Are the encoders/scales elsewhere in the machine?

www.motorsystems.com/uploads/pdfs/Kollmo...ion_Setup_Manual.pdf


here is the manual