Thanks, I had an error in the rules file, that's why that error appeared.

Yes

Do you need the galvo status?
 

Thanks! Yeah getting the firmware for this would be much appreciated

Yes, you can steal 2 Step/Dir channels to support the 4 differential output signals
that XY2-100 needs. If you don't need the status data back from the galvanometer,
that's all that would be required. If you need the galvanometer status, you could
steal 1 of the 7I95T's RS-422 serial port RX pairs

I can make this firmware if needed
 

I’ve been using Probe Basic for a while, and I was wondering if it’s possible to assign keyboard shortcuts to turn the spindle on and off.

Quadrature A,B and Z should be the standard of the ecodrives position signal.
Could you direct me to some knowledge resources or forum threads related to the setup?

If I were to try doing this with just the galvo hooked up to the 7I95T (no other peripheral steppers), would I still need the daughtercards? Also, where would I be able to find the xy2mod firmware needed for the 7I95T? I saw you had one for the 7I96 board, but it seems this cannot act as a drop-in replacement

Yes, if the the drive can output quadrature (A,B,Z) that can connect directly to the 7I97T's encoder inputs
SSI is also possible but would require an additional daughtercard, so quadrature is easier.

I had the same things happining a while ago when I tested Michels s curve. In the end theese (exactly like your situations) were just "calculation errors" and he solved it by adding allowed dwviations. Pos_out got a allowed deviation of 1e-4 I think.

Like you see in my pictures he had imperfections too. Michels s curve code tested outside linuxcnc when I implemend s curve backlash compensation as a proof of concept.

The ECOdrive DKC11.3 can actually output both Incremental Encoder Output (A/B/Z Emulation) as well as SSI absolute encoder emulation. Will any of these fit the encoder input of mesa7i97?

Its not a 7I97T limitation, it's a system limitation.

Analog servo drives for CNC do not use the analog voltage for position control
but rather torque or velocity control. This means the control system (LinuxCNC in this case)
MUST get position feedback from the  axis or it cannot control the axis position.

Maybe mesa 7i97t will not work without position feedback but it’s far from uncommon that woodworking cncs run this way.

@grandixximo

During further testing, I noticed the following:

A sudden drop in jerkiness during acceleration build-up and deceleration, and a jerk greater than zero where there should be no jerkiness (red circles).
Cause?
tp.c
line 2836
"int need_decel = (margin <= TP_POS_EPSILON) || (dx - moveL <= dlen2);"

A brief exceedance of the maximum jerk value when acceleration ends (blue circles).
Cause?
sp_curve.c
lines 490 to 499
"if ((deltaV < 0 && targetV < v && v + deltaV < targetV) ||
      (0 < deltaV && v < targetV && targetV < v + deltaV)) {
    //nextA = (targetV - v) / t;
    nextA = 2.0 * (targetV - v) / t - a;
    if(nextA >= maxA){
      nextA = maxA;
      targetV = (a + nextA) * t / 2.0;
    }
    //printf("############################  FIXED nextA to be:  %.14f \n", nextA);
    v = targetV;"


I cannot say what is incorrect in the previous calculations.

gruß
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