Custom EtherCAT device

I did wonder if you were using haltype="float" in the xml config but it seems you are.

My immediate thought after that could be it is a byte ordering thing on your hardware
It would be interesting to explore the hal pin value at a binary or hex level.
Swapping the  byte order might fix it.

Yes I use float as halpin type. And in my XML.. But the "ethercat XML" returns the XML version that it supposed to be flashed on the EEPROM (If I understand this correctly), this is printed in CLI and there the DataType is UINT32, but it should be REAL.. Here I think is the problem. I tried reversing the byte order and alot of different things.
To me this seems to be the problem. This a side, it work great. Maybe I can make a demo on the encoder thing

Maybe some day I will continue but at the moment I just dont have the time.

Here is the photo of the slaves sending a float number to LinuCNC. The number is counting from 0 to 100 in 0.1 steps. The top is byte reversed and the bottom is not. Totally different numbers. But they don' reprisent the same number, because the slaves are not counting at the same rate.
I think this is a representaion of a float number in UINT32 format 

If you find the time and are willing. Maybe you can help someone
I started this little ptoject because I wanted to learn about EtherCAT and this is the best way. And I love these nerve wrecking projects

I posted an issue on siitool guthub page (the tool I used to convert my XML to bin, and then flash the bin to my slave's EEPROM). The author of the software replyed that there is a bug in his software and he will fix it.. So it seems that I'm on the right track..
Now waiting for an update.

Texas Instruments has ethercat sample designs that do everything you guys want, and the micros are cheap, I've been slowly grinding on some stuff

Care to share the product info? Price?

And where is that? Not USA?