HI,
I used:
1. Mesa 7I92H Anything I/O Ethernet card.
2. Mesa 7I77 Analog servo interface plus I/O daughtercard
3. Mesa 7I74 Eight Channel RS-422/485 interface/ RJ45 Breakout.
4. Mesa 7I71 Isolated remote power driver card.
5. Mesa 7I70 Isolated remote digital input card.
You can combine 1 and 2 today with a 9i97 today.
The rest are some SubD and Other breakout boards.
BUT you have another machine, mine was a Sinumerik / Simudrive machine. You have Heidenhain Control, so I guess you also have different drivers. This is why my schematics won't help you.
I have most covered here in the thread. But I also have some more details in ma blog:
barn.works/2019/linuxcnc-retrofit-von-igor-teil-1/
But some things are outdated and I wouldn't do it the same way again.
Actually I will rewire Limit switches, E-stop and so on. Cause I am forced to start swapping the servo drives.