Double or Triple Rotarydeltakins on Ethercat

Good day
The task is to run two (or better three) rotary delta robots on Ethercat.
I have already built a robot with Ethercat and it works great.
I want to use one PC board to run two or three robots at once.
As I understand it, for this task I need to modify the source code.

I don't understand the source code well and if I modify the kinematics files I get more and more errors

I ask for advice who is well versed in source codes.

Let me clarify the situation. This project is already at the stage of sale. We have already sold several dozen of these robots. Grassyness is that it is more difficult to maintain each robot separately than one. Ethercat controllers like Bekhoff allow you to control 90+ drivers at the same time. As well as controllers based on Codesys. In terms of cheapness, we are not limited in funds and can afford an i9-10900K if needed. So I see two options for myself either:
-1 modify Linuxcnc (at least 2/3 robots);
-2 create a new project under Codesys;
Therefore, I ask for advice from those who know the source code of Linuxcnc.
It is not limited to the four files
rotatekins.c
rotarydeltakins-common.h
rotarydeltakins.cc
rotarydeltakins.c
I need to modify the rest of the files, which I find it difficult to understand

Sorry for bad english)

Hi,

I know a bit of the lcnc source code, bit of the ethercat source, a bit of KDL kinematics, a bit of Opencascade etc.

What kind of motion program does the robot use to move? Do you use g-code or something else?
If you don't use gcode you could control 3 or more robot's quite easy trough hal.

I am using standard g-code. Now I have one main computer that sends commands (Linuxcncrsh) to slave computer(robot) by classic Ethernet (pic1). I want linuxcnc with new modified kinematics (let's call it rotarydeltakins3) to work like picture2.

I don't need knowledge of ethercat sources and various CAD systems (Opencascade and etc). But to understand the source code of Linuxcnc is useful!

Now I can use one delta robot (XYZ) and the rest of the ABCUVW axes will be simple linear or angular.
I imagine that the * .ini file will look like this.
If there are simpler options how to achieve this, I am all in the attention

Hi,

Until now i don't understand exactly what would be different to the existing lcnc setup.

If i look at picture 2. I imagine you want one single kinematics file that procudes the ouput of 3 kinematics file's?
Like ->
robot 1 xyz
robot 2 abc
robot 3 uvw

Or do you need a hal wrapper that clones gcode for the other 2 robots in the cascade?

Do do robot's work as clone's or can they be controlled independend? Or would you be it like that?

Independend. Each robot moves differently.

Ahh clear.

If your 3 robots move independent, you don't want to use one g-code intepreter for 3 robots.
If one robot's has to be paused, you must pause the whole cascade.

So if you could hack lcnc to start up 3 times on one pc, you would be happy?

Yes;-) And more)))