Mesa daughter cards for TPEN6_6 firmware.

Hi, could someone recommend suitable Mesa daughter cards to run the TPEN6_6 firmware, with 6 pwm per axis for 6 joints.
From playing with pncconf, it seems the 72 i/o 50 pin cards can use this firmware, but I don't know where to start when it comes to the daughter cards. Thanks for any advice.

What are you trying to drive?

I want to try to drive 2 fanuc A06B-6058-H325 amps on a puma robot. 

Probably the closest thing would be a 7I52S
but new firmware would be needed

What encoders are used?

What FPGA card do you have or are you intending to use?

Encoders are fanuc 2000 line incremental with 4 wire commutation.

I presently have a 5i20, but if there is a better combination to drive these amps, I would go that route.

A 5I20 should work.

I'll try and make a 5I20 configuration
when I get a chance.

Edit Oops:

I don't think a 7I52 will work because you need to tri-state the first 4 PWM channels
so you dont have a conflict with the alarm status bits when the drive is not ready
You really want a daughterboard made for this particular purpose
(ideally incorporating the IS and IR current sense A-Ds)
 

Thanks for the info.
Would a different firmware be an enhanced version of TPEN6_6 to incorporate the tri-state and current sense functions.
Can you recommend a company that I could approach about designing
and building a prototype card, or is such an idea impractical with the present supply chain situation.
I am just trying to assess if I should persevere with it or have 2 fanuc amps for sale on ebay.

Not sure. its not so much the firmware but a Fanuc specific daughteboard would be needed
Its not terribly complicated though as you mentioned, getting the A-D chips may be an issue
though you could choose something you could get