Mori MV 35/40 retrofit

andypugh wrote:

I'm clueless about the last point about drawback about "base-thread", could you please explain that a little more, I don't understand what it means.

A typical EMC2 system runs two real-time threads. One which contains a set of functions that run every 30uS or thereabouts (the base thread) and one that runs every 1000uS (or 1mS, if you prefer) normally called the servo thread.
The base thread is used for the motion control calcualations.
The base thread functions can only do integer mathematics, and that thread is normally used to generate stepper steps, pwm signals, and to read encoders.
Typically all those functions on a system using Mesa cards are offloaded to the Mesa FPGA card, and only the servo thread is used.
There is an option to run the Mesa GPIO reads and writes in the base thread, though I think that would be unusual in practice.
The Smart Serial interface used by the 7i64 can only run in the servo thread, which means that it will typically take 1mS for the system to notice a change in state of an input. In practice this is plenty quick enough for anything that you are likely to be hooking up to the system. Also, the proposed hardware list leaves 24 GPIO pins free on the 5i23 which could be used if you did need super-fast IO.