MESA 7c81 HELP!

You might take a LED+resistor or DVM and check that the
direction pin changes state when jogging in different directions.

I would probably also change:

loadrt hm2_rpspi config="firmware=hm2/7c81/5ABOBX3.BIT num_encoders=1 num_pwmgens=3 num_stepgens=10"

to:

loadrt hm2_rpspi config="num_encoders=1 num_pwmgens=0 num_stepgens=3"

Unless you need a PWMgen or encoder or 10 stepgens

Changing the encoders pwm gens and step gens made a HUGE difference...

Not sure I understand why... sounds like I need to do some reading on how that driver or maybe linuxcnc works... recommendations?

My steppers now move... unfortunately they are stuttering and making a horrible noise.... I suspect that is all about tuning the settings. If so can you point me to a document on how to develop the tuning parameters?

THANKS!!

You have the PID P terms set so high that they will cause oscillation.

You should use 1/servo-period which is the pncconf default = 1000
for a 1ms servo thread rate.

The physical meaning of a 1/servo thread P term is that position errors
are corrected by the next servo thread invocation. A value of 10000
(with a 1ms servo thread rate) means that a sensed stepgen position
error will be overcorrected by a factor of 9, leading to oscillation.

In addition:

setp hm2_7c81.0.dpll.01.timer-us -50

should probably be changed to

setp hm2_7c81.0.dpll.01.timer-us -200