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I think you are out of date Tommy. Grandixximo has done a lot of work and maintains an improved version of Ethercat specifically for LinuxCNC and also ahs done changes to the core code in LinuxCNC that improves how the Ethercat thread and servo thread sync on startup. Drive feedback form the encoder is just another variable on the Ethercat bus.The included lcec-configgen will build the xml file for you.
"Ethercat is faster" is not a valid argument,...
He did not say "faster", he said more efficient, and even that does not seem correct to me from what i read around here, no experience with ethercat yet except rare services of machines using them.
I am intentionally refusing to use ethercat until something is done to have proper feedback, so far it does not work or it does work with big delays.
But, i would really like to have the redundancy it may offer, for now only in showrooms.
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