Sorry, I couldn't get back to this as soon as I would have liked. Thank you again for your replies and help.
I recently made some progress by using UDP (By using
jzolee/HAL2UDP
, with some minor modifications). I used it for getting the encoder values into LinuxCNC and it looks promising. I think this could also work for the Drive Side, I will test if I can get it to run fast enough.
My current Setup for the encoders is:
Heidenhain LS 803 Linear Scales ---11uA Sine---> Heidenhain EXE 600 ---TTL---> ESP32 with W5500 ---Ethernet/UDP---> LinuxCNC
For the drive side I will try:
LinuxCNC ---Ethernet/UDP---> PLC (Either Siemens S7-1200 or CodeSys) ---Ethernet/PROFINET---> Servo Drive (Siemens S210/Siemens V90)
